建图效果,确实比稀疏的orbslam2舒服很多
官方:https://vision.in.tum.de/research/vslam/stereo-dso After the ICCV 2017 deadline, we extended our method to a SLAM system with additional components for map maintenance, loop detection and loop closure. Our pe…
DSO(Direct Sparse Odometry),是慕尼黑工业大学(Technical University of Munich, TUM)计算机视觉实验室的雅各布.恩格尔(Jakob Engel)博士,于2016年发布的一个视觉里程计方法&#…
Direct Sparse Odometry Abstract
本文提出了一个较为新颖的直接稀疏里程计(DSO)。整个系统包含了完整的直接法(最小光度误差)模型,状态包含相机的位姿,逆深度。为了达到实时运算,算法去除了直…
tbb::atomic已经被废弃,可以使用std::atomic替代 https://www.intel.com/content/dam/develop/external/us/en/documents/tbbrevamp.pdf tbb::atomic class (as well as multiple obsolete and compatibility features) was deprecated in TBB 2019 U9 (for more in…