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research:vslam:omni-lsdslam [2015/07/31 00:21]
engelj created
research:vslam:omni-lsdslam [2015/09/21 21:58]
engelj
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 +
 +====== Large-Scale Direct SLAM for Omnidirectional Cameras ======
 +
 +We propose a real-time, direct monocular SLAM
 +method for omnidirectional or wide field-of-view fisheye cam-
 +eras. Both tracking (direct image alignment) and mapping
 +(pixel-wise distance filtering) are directly formulated for the
 +unified omnidirectional model, which can model central imaging
 +devices with a field of view well above 150◦ . This is in stark
 +contrast to existing direct mono-SLAM approaches like DTAM
 +or LSD-SLAM, which operate on rectified images, limiting
 +the field of view to well below 180◦ . Not only does this
 +allow to observe – and reconstruct – a larger portion of the
 +surrounding environment,​ but it also makes the system more
 +robust to degenerate (rotation-only) movement. The two main
 +contribution are (1) the formulation of direct image alignment
 +for the unified omnidirectional model, and (2) a fast yet accurate
 +approach to incremental stereo directly on distorted images. We
 +evaluated our framework on real-world sequences taken with a
 +185◦ fish-eye lens, and compare it to a rectified and a piecewise
 +rectified approach.
 +
 +====== Video ======
  
 <​html><​center><​iframe width="​640"​ height="​360"​ src="//​www.youtube.com/​embed/​v0NqMm7Q6S8"​ frameborder="​0"​ allowfullscreen></​iframe></​center></​html>​ <​html><​center><​iframe width="​640"​ height="​360"​ src="//​www.youtube.com/​embed/​v0NqMm7Q6S8"​ frameborder="​0"​ allowfullscreen></​iframe></​center></​html>​
  
 +
 +====== Dataset ======
 +
 +  * ** T1 (2:40min @ 50fps)** ​
 +    * Video Preview: ​ [[http://​vision.in.tum.de/​~engelj/​OmniDataset/​T1/​T1_rectified.mp4|[Pinhole-Rectified]]] [[http://​vision.in.tum.de/​~engelj/​OmniDataset/​T1/​T1_rectified.mp4|[Pinhole-Rectified]]]
 +    * PNG: [[http://​vision.in.tum.de/​~engelj/​OmniDataset/​T1/​T1_rectified.tar.gz|[Pinhole-Rectified]]] [[http://​vision.in.tum.de/​~engelj/​OmniDataset/​T1/​T1_rectified.tar.gz|[Pinhole-Rectified]]]
 +    * RosBag: [[http://​vision.in.tum.de/​~engelj/​OmniDataset/​T1/​T1_rectified.bag|[Pinhole-Rectified]]] [[http://​vision.in.tum.de/​~engelj/​OmniDataset/​T1/​T1_rectified.bag|[Pinhole-Rectified]]]
 +    * Calibration File: [[http://​vision.in.tum.de/​~engelj/​OmniDataset/​T1/​calibrationRect.yaml|[Pinhole-Rectified]]] [[http://​vision.in.tum.de/​~engelj/​OmniDataset/​T1/​calibrationOrig.yaml|[Pinhole-Rectified]]]
 +
 +  * ** T2 (1:19min @ 50fps)** ​
 +    * Video Preview: ​ [[http://​vision.in.tum.de/​~engelj/​OmniDataset/​T1/​T1_rectified.mp4|[Pinhole-Rectified]]] [[http://​vision.in.tum.de/​~engelj/​OmniDataset/​T1/​T1_rectified.mp4|[Pinhole-Rectified]]]
 +    * PNG: [[http://​vision.in.tum.de/​~engelj/​OmniDataset/​T1/​T1_rectified.tar.gz|[Pinhole-Rectified]]] [[http://​vision.in.tum.de/​~engelj/​OmniDataset/​T1/​T1_rectified.tar.gz|[Pinhole-Rectified]]]
 +    * RosBag: [[http://​vision.in.tum.de/​~engelj/​OmniDataset/​T1/​T1_rectified.bag|[Pinhole-Rectified]]] [[http://​vision.in.tum.de/​~engelj/​OmniDataset/​T1/​T1_rectified.bag|[Pinhole-Rectified]]]
 +    * Calibration File: [[http://​vision.in.tum.de/​~engelj/​OmniDataset/​T1/​calibrationRect.yaml|[Pinhole-Rectified]]] [[http://​vision.in.tum.de/​~engelj/​OmniDataset/​T1/​calibrationOrig.yaml|[Pinhole-Rectified]]]
 +
 +  * ** T3 (2:17min @ 50fps)** ​
 +    * Video Preview: ​ [[http://​vision.in.tum.de/​~engelj/​OmniDataset/​T1/​T1_rectified.mp4|[Pinhole-Rectified]]] [[http://​vision.in.tum.de/​~engelj/​OmniDataset/​T1/​T1_rectified.mp4|[Pinhole-Rectified]]]
 +    * PNG: [[http://​vision.in.tum.de/​~engelj/​OmniDataset/​T1/​T1_rectified.tar.gz|[Pinhole-Rectified]]] [[http://​vision.in.tum.de/​~engelj/​OmniDataset/​T1/​T1_rectified.tar.gz|[Pinhole-Rectified]]]
 +    * RosBag: [[http://​vision.in.tum.de/​~engelj/​OmniDataset/​T1/​T1_rectified.bag|[Pinhole-Rectified]]] [[http://​vision.in.tum.de/​~engelj/​OmniDataset/​T1/​T1_rectified.bag|[Pinhole-Rectified]]]
 +    * Calibration File: [[http://​vision.in.tum.de/​~engelj/​OmniDataset/​T1/​calibrationRect.yaml|[Pinhole-Rectified]]] [[http://​vision.in.tum.de/​~engelj/​OmniDataset/​T1/​calibrationOrig.yaml|[Pinhole-Rectified]]]
 +
 +  * ** T4 (2:08min @ 50fps)** ​
 +    * Video Preview: ​ [[http://​vision.in.tum.de/​~engelj/​OmniDataset/​T1/​T1_rectified.mp4|[Pinhole-Rectified]]] [[http://​vision.in.tum.de/​~engelj/​OmniDataset/​T1/​T1_rectified.mp4|[Pinhole-Rectified]]]
 +    * PNG: [[http://​vision.in.tum.de/​~engelj/​OmniDataset/​T1/​T1_rectified.tar.gz|[Pinhole-Rectified]]] [[http://​vision.in.tum.de/​~engelj/​OmniDataset/​T1/​T1_rectified.tar.gz|[Pinhole-Rectified]]]
 +    * RosBag: [[http://​vision.in.tum.de/​~engelj/​OmniDataset/​T1/​T1_rectified.bag|[Pinhole-Rectified]]] [[http://​vision.in.tum.de/​~engelj/​OmniDataset/​T1/​T1_rectified.bag|[Pinhole-Rectified]]]
 +    * Calibration File: [[http://​vision.in.tum.de/​~engelj/​OmniDataset/​T1/​calibrationRect.yaml|[Pinhole-Rectified]]] [[http://​vision.in.tum.de/​~engelj/​OmniDataset/​T1/​calibrationOrig.yaml|[Pinhole-Rectified]]]
 +
 +  * ** T4 (2:45min @ 50fps)** ​
 +    * Video Preview: ​ [[http://​vision.in.tum.de/​~engelj/​OmniDataset/​T1/​T1_rectified.mp4|[Pinhole-Rectified]]] [[http://​vision.in.tum.de/​~engelj/​OmniDataset/​T1/​T1_rectified.mp4|[Pinhole-Rectified]]]
 +    * PNG: [[http://​vision.in.tum.de/​~engelj/​OmniDataset/​T1/​T1_rectified.tar.gz|[Pinhole-Rectified]]] [[http://​vision.in.tum.de/​~engelj/​OmniDataset/​T1/​T1_rectified.tar.gz|[Pinhole-Rectified]]]
 +    * RosBag: [[http://​vision.in.tum.de/​~engelj/​OmniDataset/​T1/​T1_rectified.bag|[Pinhole-Rectified]]] [[http://​vision.in.tum.de/​~engelj/​OmniDataset/​T1/​T1_rectified.bag|[Pinhole-Rectified]]]
 +    * Calibration File: [[http://​vision.in.tum.de/​~engelj/​OmniDataset/​T1/​calibrationRect.yaml|[Pinhole-Rectified]]] [[http://​vision.in.tum.de/​~engelj/​OmniDataset/​T1/​calibrationOrig.yaml|[Pinhole-Rectified]]]
 +
 +====== Related publications ======
 +<​bibtex>​
 +<​keywords>​semidense</​keywords>​
 +</​bibtex>​

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