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Evaluation of the Visual Odometry Methods for Semi-Dense Real-Time

HAIDARA Gaoussou, PENG Dewei
2018 Advanced Computing An International Journal  
Secondly, we propose an approach running in real-time with a stereo camera, which combines an existing feature-based (indirect) method and an existing feature-less (direct) method matching with accurate  ...  This paper, firstly, discusses two popular existing visual odometry approaches, namely LSD-SLAM and ORB-SLAM2 to improve the performance metrics of visual SLAM systems using Umeyama Method.  ...  Top right Image initialized on ORB-SLAM2. Bottom left Keyframes with color-coded semi-dense depth map. Bottom right Pose-Graph with semi-dense depth maps.  ... 
doi:10.5121/acij.2018.9201 fatcat:o4353gm6ufbrddl2w3pcrk7cxm

Feature-based visual odometry prior for real-time semi-dense stereo SLAM

Nicola Krombach, David Droeschel, Sebastian Houben, Sven Behnke
2018 Robotics and Autonomous Systems  
In this work, we propose a two-layer approach for visual odometry and SLAM with stereo cameras that runs in real-time and combines feature-based matching with semi-dense direct image alignment.  ...  Our method initializes semi-dense depth estimation, which is computationally expensive, from motion that is tracked by a fast but robust keypoint-based method.  ...  A later extension of ORB-SLAM [9] incorporates stereo and depth cameras by using a dense depth estimation in order to initialize new ORB map points.  ... 
doi:10.1016/j.robot.2018.08.002 fatcat:ce5htdb5ijflbgr4hx7xsh4e4m

Analysis of ROS-based Visual and Lidar Odometry for a Teleoperated Crawler-type Robot in Indoor Environment

Maxim Sokolov, Oleg Bulichev, Ilya Afanasyev
2017 Proceedings of the 14th International Conference on Informatics in Control, Automation and Robotics  
offline by ORB-SLAM and LSD-SLAM algorithms.  ...  Since robot's onboard computer can not work simultaneously with ROS packages of lidar odometry and visual SLAM, we used online computation of lidar odometry, while video data from onboard camera was processed  ...  ROS-based LSD-SLAM Odometry Large-Scale Direct Monocular SLAM 8 (LSD-SLAM) creates a real-time global, semi-dense map in a fully direct mode without using keypoints, corners or any other local features  ... 
doi:10.5220/0006420603160321 dblp:conf/icinco/SokolovBA17 fatcat:7cix6m6ebfb2jhgkckcymr6cky

A Stereo SLAM System with Dense Mapping

Ben Zhang, Denglin Zhu
2021 IEEE Access  
The ORB-SLAM2 is a unified SLAM solution for monocular, binocular, and RGBD cameras which constructs a sparse feature point map for realtime positioning.  ...  In this paper, a dense mapping thread is added to the existing ORB-SLAM2 system.  ...  The ORB-SLAM method realizes feature-based sparse SLAM based on a monocular camera, and the ORB-SLAM2 proposes a unified solution for monocular, binocular, and RGB-D cameras.  ... 
doi:10.1109/access.2021.3126837 fatcat:6uaj5tzdmnefzfmhu5yn2oc45y

A Hybrid Sparse-Dense Monocular SLAM System for Autonomous Driving [article]

Louis Gallagher, Varun Ravi Kumar, Senthil Yogamani, John B. McDonald
2021 arXiv   pre-print
Our system employs dense depth prediction with a hybrid mapping architecture combining state-of-the-art sparse features and dense fusion-based visual SLAM algorithms within an integrated framework.  ...  In this paper, we present a system for incrementally reconstructing a dense 3D model of the geometry of an outdoor environment using a single monocular camera attached to a moving vehicle.  ...  The work most similar to our aproach is the dense surfelbased fusion system of [39] , combining camera tracking from a sparse SLAM system (ORB-SLAM2 [20] ) with a dense fusion-based back-end.  ... 
arXiv:2108.07736v1 fatcat:pk4vxikqd5fq5fwhdsa5ktqebe

Dense mapping for monocular-SLAM

Abiel Aguilar-Gonzalez, Miguel Arias-Estrada
2016 2016 International Conference on Indoor Positioning and Indoor Navigation (IPIN)  
In recent years, work has focused in systems that use a single camera as the only sensing mechanism (monocular-SLAM). 3D reconstruction (map) by monocular-SLAM systems is a point cloud where all points  ...  Preliminary results show that it is possible to obtain dense mapping (superior to previous work) and accurate camera pose estimation (localization) under several real-world conditions.  ...  The proposed algorithm was applied over an ORB-SLAM system. It allows compact system design, high resolution in the camera localization, semi-dense mapping and RGB-based point clouds.  ... 
doi:10.1109/ipin.2016.7743671 dblp:conf/ipin/Aguilar-Gonzalez16 fatcat:uzirh2f52vflveb4jmoyzovkr4

A High-accuracy and Semi-dense Feature-based VSLAM System

Zhen Li, Yuren Du, Miaomiao Zhu, Shi Zhou, Seiichi Serikawa, Lifeng Zhang
2021 Journal of the Institute of Industrial Applications Engineers  
Therefore, this paper proposed a high-accurate and semi-dense VSLAM system with a monocular camera.  ...  Experimental results show that the proposed semi-dense VSLAM system can reconstruct more dense point cloud maps.  ...  During the experiment, the ORB-SLAM2 system will be compared with the proposed semi-dense SLAM system based on the feature-based approach.  ... 
doi:10.12792/jiiae.9.124 fatcat:yk7p6sup6zgetjqmj2r56n3m3m

Original Loop-Closure Detection Algorithm for Monocular vSLAM [chapter]

Andrey Bokovoy, Konstantin Yakovlev
2017 Lecture Notes in Computer Science  
We analyze the existing methods and propose original algorithm for loop-closure detection, which is suitable for dense, semi-dense and feature-based vSLAM methods.  ...  Vision-based simultaneous localization and mapping (vSLAM) is a well-established problem in mobile robotics and monocular vSLAM is one of the most challenging variations of that problem nowadays.  ...  Besides the proposed method is compatible with a large number of existing vSLAM methods, including feature-based, semi-dense and dense vision-based SLAM methods (for monocular, stereo and RGB-D cameras  ... 
doi:10.1007/978-3-319-73013-4_19 fatcat:cjm6vqe3e5evbo3g4p64ynusie

Probabilistic Semi-Dense Mapping from Highly Accurate Feature-Based Monocular SLAM

Raul Mur-Artal, Juan Tardos
2015 Robotics: Science and Systems XI  
In this paper we present a novel feature-based monocular SLAM system that is more robust, gives more accurate camera poses, and obtains comparable or better semi-dense reconstructions than the current  ...  In the last years several direct (i.e. featureless) monocular SLAM approaches have appeared showing impressive semi-dense or dense scene reconstructions.  ...  Semi-Dense Mapping over Feature-Based SLAM Building on excellent feature-based algorithms developed in the last years [8, 18, 19, 16, 9, 5] , we have designed ORB-SLAM, a new feature-based monocular SLAM  ... 
doi:10.15607/rss.2015.xi.041 dblp:conf/rss/Mur-ArtalT15 fatcat:mmwxhyxgaza3zeuaftax37qcwa

Loosely-Coupled Semi-Direct Monocular SLAM

Seong Hun Lee, Javier Civera
2019 IEEE Robotics and Automation Letters  
We propose a novel semi-direct approach for monocular simultaneous localization and mapping (SLAM) that combines the complementary strengths of direct and feature-based methods.  ...  Exhaustive evaluation on two benchmark datasets demonstrates that our system outperforms the state-of-the-art monocular odometry and SLAM systems in terms of overall accuracy and robustness.  ...  One module uses a direct method to track new frames fast and robustly with respect to a local semi-dense map.  ... 
doi:10.1109/lra.2018.2889156 fatcat:twk6bmu42nfbfk4rl2oiynuva4

Semi-Direct Monocular SLAM with Three Levels of Parallel Optimizations

Shouyi Lu, Yongshuai Zhi, Sumin Zhang, Rui He, Zhipeng Bao
2021 IEEE Access  
It tracks the camera motion, produces a semi-dense map, and performs pose graph optimization to obtain a consistent global map.  ...  This method uses the feature-based method to obtain a motion estimation, and then perform direct semi-dense to refine the camera pose. SVL [28] can be considered a combination of ORB-SLAM and SVO.  ... 
doi:10.1109/access.2021.3071921 fatcat:svim263ixjgplm2vfl2zqneoke

A Comprehensive Survey of Visual SLAM Algorithms

Andréa Macario Barros, Maugan Michel, Yoann Moline, Gwenolé Corre, Frédérick Carrel
2022 Robotics  
Simultaneous localization and mapping (SLAM) techniques are widely researched, since they allow the simultaneous creation of a map and the sensors' pose estimation in an unknown environment.  ...  Visual-based SLAM techniques play a significant role in this field, as they are based on a low-cost and small sensor system, which guarantees those advantages compared to other sensor-based SLAM techniques  ...  The depth and inertial data may be added to the 2D visual input to generate a sparse map (generated with the ORB-SLAM3 algorithm [22] in the MH_01 sequence [23] ), semi-dense map (obtained with the  ... 
doi:10.3390/robotics11010024 fatcat:jt43ankekvc5loidnqamzxibkq

Real-time Direct Monocular SLAM with Learning-based Confidence Estimation

Weiqi Zhang, Zifei Yan, Gang Xiao, Aidi Feng, Wangmeng Zuo
2019 IEEE Access  
Direct monocular simultaneous localization and mapping (SLAM) methods, for which the image intensity is used for tracking and mapping instead of sparse feature points, have gained in popularity in recent  ...  Then, the confidence value along with the selected GCPs is utilized for depth refinement and camera localization.  ...  EVALUATION ON SEMI-DENSE GCP-SLAM We evaluate our semi-dense GCP-SLAM on the TUM RGB-D datasets with confidence based depth refinement, GCPs-based sim(3) tracking, and both of them respectively.  ... 
doi:10.1109/access.2019.2928578 fatcat:f6zkvtieyfh6xgwbiq3dcaijla

3D Scene Mesh from CNN Depth Predictions and Sparse Monocular SLAM

Tomoyuki Mukasa, Jiu Xu, Stenger Bjorn
2017 2017 IEEE International Conference on Computer Vision Workshops (ICCVW)  
In our framework, SLAM-measured sparse features and CNNpredicted dense depth maps are fused to obtain a more accurate dense 3D reconstruction including scale.  ...  In this paper, we propose a novel framework for integrating geometrical measurements of monocular visual simultaneous localization and mapping (SLAM) and depth prediction using a convolutional neural network  ...  [9] proposed Large-Scale Direct Monocular SLAM (LSD-SLAM) which runs in real-time on a CPU. The method estimates depth at pixels near image boundaries and recovers a semi-dense map.  ... 
doi:10.1109/iccvw.2017.112 dblp:conf/iccvw/MukasaXS17 fatcat:tdnufowpo5hb3lr4p32aueuxfq

A Multi-Sensorial Simultaneous Localization and Mapping (SLAM) System for Low-Cost Micro Aerial Vehicles in GPS-Denied Environments

Elena López, Sergio García, Rafael Barea, Luis Bergasa, Eduardo Molinos, Roberto Arroyo, Eduardo Romera, Samuel Pardo
2017 Sensors  
It allows to improve the results of well-known monocular visual SLAM methods (LSD-SLAM and ORB-SLAM are tested and compared in this work) by solving scale ambiguity and providing additional information  ...  To do this, a minimum onboard sensory configuration is supposed, consisting of a monocular camera, an Inertial Measurement Unit (IMU) and an altimeter.  ...  It has also be funded with the "Estrategias de guiado y exploración para micro-robots aéreos en entornos interiores" Project (CCG2016/EXP-049) of the University of Alcalá.  ... 
doi:10.3390/s17040802 pmid:28397758 pmcid:PMC5422163 fatcat:cg35fbhypjhatgzdlfqjhvfroq
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