Direct Sparse Mapping
About
Photometric bundle adjustment, PBA, accurately estimates geometry from video. However, current PBA systems have a temporary map that cannot manage scene reobservations. We present, DSM, a full monocular visual SLAM based on PBA. Its persistent map handles reobservations, yielding the most accurate results up to date on EuRoC for a direct method.
Jon Zubizarreta, Iker Aguinaga, J. M. M. Montiel• 2019
Related benchmarks
| Task | Dataset | Result | Rank | |
|---|---|---|---|---|
| Monocular SLAM | EuRoC (test) | ATE Error (MH03)0.055 | 12 | |
| SLAM | TRNeRF SO (Slow Outdoor) | RMSE ATE (cm)9.4 | 10 | |
| Absolute Trajectory Estimation | EuRoC MAV | ATE RMSE (MH01)0.039 | 8 | |
| SLAM | TRNeRF SI (Slow Indoor) | RMSE ATE (cm)76.7 | 8 |
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