Both sides previous revision
Previous revision
|
Next revision
Both sides next revision
|
research:vslam:omni-lsdslam [2015/09/21 21:58] engelj |
research:vslam:omni-lsdslam [2015/09/21 22:10] engelj |
| ~~REDIRECT>data:datasets:omni-lsdslam~~ |
====== 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> | |
| |
| |
====== 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> | |