Open-Source Code Available! see vision.in.tum.de/lsdslam
Publication:
LSD-SLAM: Large-Scale Direct Monocular SLAM (J. Engel, T. Schöps, D. Cremers), ECCV 2014.
Authors:
Jakob Engel
Thomas Schöps
Daniel Cremers
Short Abstract:
LSD-SLAM is a novel, direct monocular SLAM technique: Instead of using keypoints, it directly operates on image intensities both for tracking and mapping. The camera is tracked using direct image alignment, while geometry is estimated in the form of semi-dense depth maps, obtained by filtering over many pixelwise stereo comparisons. We then build a Sim(3) pose-graph of keyframes, which allows to build scale-drift corrected, large-scale maps including loop-closures. LSD-SLAM runs in real-time on a CPU, and even on a modern smartphone.