Corpus ID: 236881554

Comparison of modern open-source visual SLAM approaches

  title={Comparison of modern open-source visual SLAM approaches},
  author={Dinar Sharafutdinov and Mark Griguletskii and Pavel Kopanev and Mikhail Kurenkov and Gonzalo Ferrer and Aleksey Fedorovich Burkov and Aleksei Gonnochenko and Dzmitry Tsetserukou},
SLAM is one of the most fundamental areas of research in robotics and computer vision. State of the art solutions has advanced significantly in terms of accuracy and stability. Unfortunately, not all the approaches are available as open-source solutions and free to use. The results of some of them are difficult to reproduce, and there is a lack of comparison on common datasets. In our work, we make a comparative analysis of state-of-the-art open-source methods. We assess the algorithms based on… Expand
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Evolution of Visual Odometry Techniques
An attempt is made to introduce this topic for beginners covering different aspects of vision based motion estimation task and a list of different datasets for visual odometry and allied research areas are provided for a ready reference. Expand
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OpenVSLAM is introduced, a visual SLAM framework with high usability and extensibility, designed to be easily used and extended and incorporates several useful features and functions for research and development. Expand
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The first successful application of the SLAM methodology from mobile robotics to the "pure vision" domain of a single uncontrolled camera, achieving real time but drift-free performance inaccessible to structure from motion approaches is presented. Expand
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A novel direct tracking method which operates on \(\mathfrak{sim}(3)\), thereby explicitly detecting scale-drift, and an elegant probabilistic solution to include the effect of noisy depth values into tracking are introduced. Expand
DynaSLAM: Tracking, Mapping, and Inpainting in Dynamic Scenes
DynaSLAM is a visual SLAM system that, building on ORB-SLAM2, adds the capabilities of dynamic object detection and background inpainting, and outperforms the accuracy of standard visualSLAM baselines in highly dynamic scenarios. Expand
Semi-dense Visual Odometry for a Monocular Camera
We propose a fundamentally novel approach to real-time visual odometry for a monocular camera. It allows to benefit from the simplicity and accuracy of dense tracking - which does not depend onExpand
Are We Ready for Service Robots? The OpenLORIS-Scene Datasets for Lifelong SLAM
The term lifelong SLAM is used here to address SLAM problems in an ever-changing environment over a long period of time and the OpenLORIS-Scene datasets are released, which are collected in real-world indoor scenes, for multiple times in each place to include scene changes in real life. Expand