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• W3003207863 abstract "We propose a hybrid pyramid based approach to fuse the direct and indirect methods in visual SLAM, to allow robust localization under various situations including large-baseline motion, low-texture environment, and various illumination changes. In our approach, we first calculate coarse inter-frame pose estimation by matching the feature points. Subsequently, we use both direct image alignment and a multiscale pyramid method, for refining the previous estimation to attain better precision. Furthermore, we perform online photometric calibration along with pose estimation, to reduce un-modelled errors. To evaluate our approach, we conducted various real-world experiments on both public datasets and self-collected ones, by implementing a full SLAM system with the proposed methods. The results show that our system improves both localization accuracy and robustness by a wide margin." @default.
• W3003207863 created "2020-02-07" @default.
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• W3003207863 date "2019-11-01" @default.
• W3003207863 modified "2023-09-27" @default.
• W3003207863 title "A Robust Stereo Semi-direct SLAM System Based on Hybrid Pyramid" @default.
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• W3003207863 doi "https://doi.org/10.1109/iros40897.2019.8968008" @default.
• W3003207863 hasPublicationYear "2019" @default.
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