Corpus ID: 233231643

VOLDOR-SLAM: For the Times When Feature-Based or Direct Methods Are Not Good Enough

  title={VOLDOR-SLAM: For the Times When Feature-Based or Direct Methods Are Not Good Enough},
  author={Zhixiang Min and Enrique Dunn},
We present a dense-indirect SLAM system using external dense optical flows as input. We extend the recent probabilistic visual odometry model VOLDOR [1], by incorporating the use of geometric priors to 1) robustly bootstrap estimation from monocular capture, while 2) seamlessly supporting stereo and/or RGB-D input imagery. Our customized back-end tightly couples our intermediate geometric estimates with an adaptive priority scheme managing the connectivity of an incremental pose graph. We… Expand

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