Fast Direct Stereo Visual SLAM

@article{Mo2021FastDS,
  title={Fast Direct Stereo Visual SLAM},
  author={Jiawei Mo and Md. Jahidul Islam and Junaed Sattar},
  journal={ArXiv},
  year={2021},
  volume={abs/2112.01890}
}
We propose a novel approach for fast and accurate stereo visual Simultaneous Localization and Mapping (SLAM) independent of feature detection and matching. We extend monocular Direct Sparse Odometry (DSO) to a stereo system by optimizing the scale of the 3D points to minimize photometric error for the stereo configuration, which yields a computationally efficient and robust method compared to conventional stereo matching. We further extend it to a full SLAM system with loop closure to reduce… 

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TLDR
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