DiT-SLAM: Real-Time Dense Visual-Inertial SLAM with Implicit Depth Representation and Tightly-Coupled Graph Optimization

DiT-SLAM: Real-Time Dense Visual-Inertial SLAM with Implicit Depth Representation and Tightly-Coupled Graph Optimization

Recently, generating dense maps in real-time has become a hot research topic in the mobile robotics community, since dense maps can provide more informative and continuous features compared with sparse maps. Implicit depth representation (e.g., the depth code) derived from deep neural networks has b...

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Bibliographic Details
Main Authors: Mingle Zhao, Dingfu Zhou, Xibin Song, Xiuwan Chen, Liangjun Zhang
Format: Article
Language:English
Published: MDPI AG 2022-04-01
Series:Sensors
Subjects:
visual-inertial SLAM
depth estimation
implicit representation
graph optimization
dense mapping
Online Access:https://www.mdpi.com/1424-8220/22/9/3389

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https://www.mdpi.com/1424-8220/22/9/3389

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