Using superpixels in monocular SLAM

@article{Concha2014UsingSI,
  title={Using superpixels in monocular SLAM},
  author={Alejo Concha and Javier Civera},
  journal={2014 IEEE International Conference on Robotics and Automation (ICRA)},
  year={2014},
  pages={365-372}
}
Monocular SLAM and Structure from Motion have been traditionally based on finding point correspondences in highly-textured image areas. Large textureless regions, usually found in indoor and urban environments, are difficult to reconstruct by these systems. In this paper we augment for the first time the traditional point-based monocular SLAM maps with superpixels. Superpixels are middle-level features consisting of image regions of homogeneous texture. We propose a novel scheme for superpixel… CONTINUE READING

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