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- W2174668712 abstract "Most current approaches to street-scene 3D reconstruction from a driving car to date rely on 3D laser scanning or tedious offline computation from visual images. In this paper, we compare a real-time capable 3D reconstruction method using a stereo extension of large-scale direct SLAM (LSD-SLAM) with laser-based maps and traditional stereo reconstructions based on processing individual stereo frames. In our reconstructions, small-baseline comparison over several subsequent frames are fused with fixed-baseline disparity from the stereo camera setup. These results demonstrate that our direct SLAM technique provides an excellent compromise between speed and accuracy, generating visually pleasing and globally consistent semi-dense reconstructions of the environment in real-time on a single CPU." @default.
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- W2174668712 date "2015-10-01" @default.
- W2174668712 modified "2023-09-26" @default.
- W2174668712 title "Reconstructing Street-Scenes in Real-Time from a Driving Car" @default.
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- W2174668712 doi "https://doi.org/10.1109/3dv.2015.75" @default.
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