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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.

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Conference and Workshop Papers
2015
[]Reconstructing Street-Scenes in Real-Time From a Driving Car (V. Usenko, J. Engel, J. Stueckler and D. Cremers), In Proc. of the Int. Conference on 3D Vision (3DV), 2015.  [bibtex] [pdf]
[]Large-Scale Direct SLAM for Omnidirectional Cameras (D. Caruso, J. Engel and D. Cremers), In International Conference on Intelligent Robots and Systems (IROS), 2015.  [bibtex] [pdf] [video]
[]Large-Scale Direct SLAM with Stereo Cameras (J. Engel, J. Stueckler and D. Cremers), In International Conference on Intelligent Robots and Systems (IROS), 2015.  [bibtex] [pdf] [video]
2014
[]Semi-Dense Visual Odometry for AR on a Smartphone (T. Schöps, J. Engel and D. Cremers), In International Symposium on Mixed and Augmented Reality, 2014.  [bibtex] [pdf] [video]Best Short Paper Award
[]LSD-SLAM: Large-Scale Direct Monocular SLAM (J. Engel, T. Schöps and D. Cremers), In European Conference on Computer Vision (ECCV), 2014.  [bibtex] [pdf] [video]Oral Presentation
2013
[]Semi-Dense Visual Odometry for a Monocular Camera (J. Engel, J. Sturm and D. Cremers), In IEEE International Conference on Computer Vision (ICCV), 2013.  [bibtex] [pdf] [video]
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