Fontan, Alejandro and Giubilato, Riccardo and Oliva, Laura and Civera, Javier and Triebel, Rudolph (2023) SID-SLAM: Semi-Direct Information-Driven RGB-D SLAM. IEEE Robotics and Automation Letters, pp. 1-8. IEEE - Institute of Electrical and Electronics Engineers. doi: 10.1109/LRA.2023.3251722. ISSN 2377-3766.
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Official URL: https://ieeexplore.ieee.org/document/10058038
Abstract
This work presents SID-SLAM, a complete SLAM framework for RGB-D cameras. Our main contribution is a semi- direct approach that, for the first time, combines tightly and indistinctly photometric and feature-based image measurements. Additionally, SID-SLAM uses information metrics to reduce the state size with a minimal impact in the accuracy. Our evaluation on several public datasets shows that we achieve state-of-the-art performance regarding accuracy, robustness and computational footprint in CPU real time. In order to facilitate research on semi- direct SLAM, we record the Minimal Texture dataset, composed by RGB-D sequences challenging for current baselines and in which our pipeline excels.
Item URL in elib: | https://elib.dlr.de/194874/ | ||||||||||||||||||||||||
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Document Type: | Article | ||||||||||||||||||||||||
Title: | SID-SLAM: Semi-Direct Information-Driven RGB-D SLAM | ||||||||||||||||||||||||
Authors: |
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Date: | 2 March 2023 | ||||||||||||||||||||||||
Journal or Publication Title: | IEEE Robotics and Automation Letters | ||||||||||||||||||||||||
Refereed publication: | Yes | ||||||||||||||||||||||||
Open Access: | Yes | ||||||||||||||||||||||||
Gold Open Access: | No | ||||||||||||||||||||||||
In SCOPUS: | Yes | ||||||||||||||||||||||||
In ISI Web of Science: | Yes | ||||||||||||||||||||||||
DOI: | 10.1109/LRA.2023.3251722 | ||||||||||||||||||||||||
Page Range: | pp. 1-8 | ||||||||||||||||||||||||
Publisher: | IEEE - Institute of Electrical and Electronics Engineers | ||||||||||||||||||||||||
ISSN: | 2377-3766 | ||||||||||||||||||||||||
Status: | Published | ||||||||||||||||||||||||
Keywords: | Localization, SLAM | ||||||||||||||||||||||||
HGF - Research field: | Aeronautics, Space and Transport | ||||||||||||||||||||||||
HGF - Program: | Space | ||||||||||||||||||||||||
HGF - Program Themes: | Robotics | ||||||||||||||||||||||||
DLR - Research area: | Raumfahrt | ||||||||||||||||||||||||
DLR - Program: | R RO - Robotics | ||||||||||||||||||||||||
DLR - Research theme (Project): | R - E3D: Algorithms and Application (RM) [RO] | ||||||||||||||||||||||||
Location: | Oberpfaffenhofen | ||||||||||||||||||||||||
Institutes and Institutions: | Institute of Robotics and Mechatronics (since 2013) > Perception and Cognition | ||||||||||||||||||||||||
Deposited By: | Stürzl, Wolfgang | ||||||||||||||||||||||||
Deposited On: | 27 Apr 2023 10:12 | ||||||||||||||||||||||||
Last Modified: | 26 Jul 2023 11:48 |
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