DPPTAM: Dense piecewise planar tracking and mapping from a monocular sequence

  title={DPPTAM: Dense piecewise planar tracking and mapping from a monocular sequence},
  author={Alejo Concha and Javier Civera},
  journal={2015 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
This paper proposes a direct monocular SLAM algorithm that estimates a dense reconstruction of a scene in real-time on a CPU. Highly textured image areas are mapped using standard direct mapping techniques [1], that minimize the photometric error across different views. We make the assumption that homogeneous-color regions belong to approximately planar areas. Our contribution is a new algorithm for the estimation of such planar areas, based on the information of a superpixel segmentation and… CONTINUE READING
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Real-time dense 3d mapping of underwater environments from monocular images

  • A. Concha, P. Drews-Jr, M. Campos, J. Civera
  • MTS/IEEE OCEANS, 2015.
  • 2015
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Fast semidirect monocular visual odometry

  • M. Pizzoli C. Forster, D. Scaramuzza
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