Multi-scale Direct Sparse Visual Odometry for Large-Scale Natural Environment.
3DV, pp. 89-97, 2018.
In this paper, we describe a multi-scale monocular direct sparse visual odometry (DSO) system to recover large-scale trajectories in unstructured natural environments in real time, while building a consistent metric map of the visited scenes. In contrast to the current state-of-the-art DSO system, the proposed method allows for more robus...More
Full Text (Upload PDF)
PPT (Upload PPT)