| HAL-Inria | Publications, software ... of Inria's scientists |
Conference papers
TT-SLAM: Dense Monocular SLAM for Planar Environments
Abstract : This paper proposes a novel visual SLAM method with dense planar reconstruction using a monocular camera: TT-SLAM. The method exploits planar template-based trackers (TT) to compute camera poses and reconstructs a multiplanar scene representation. Multiple homographies are estimated simultaneously by clustering a set of template trackers supported by superpixelized regions. Compared to RANSACbased multiple homographies method [1], data association and keyframe selection issues are handled by the continuous nature of template trackers. A non-linear optimization process is applied to all the homographies to improve the precision in pose estimation. Experiments show that the proposed method outperforms RANSAC-based multiple homographies method [1] as well as other dense method SLAM techniques such as LSD-SLAM or DPPTAM, and competes with keypointbased techniques like ORB-SLAM while providing dense planar reconstructions of the environment.
https://hal.inria.fr/hal-03169199
Contributor : Eric Marchand <>
Submitted on : Monday, March 15, 2021 - 10:50:04 AM
Last modification on : Thursday, March 18, 2021 - 11:56:41 AM
Contributor : Eric Marchand <>
Submitted on : Monday, March 15, 2021 - 10:50:04 AM
Last modification on : Thursday, March 18, 2021 - 11:56:41 AM
File
2021_icra_wang.pdf
Files produced by the author(s)