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SID-SLAM: Semi-Direct Information-Driven RGB-D SLAM

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.

[img] PDF - Postprint version (accepted manuscript)

Official URL: https://ieeexplore.ieee.org/document/10058038


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/
Document Type:Article
Title:SID-SLAM: Semi-Direct Information-Driven RGB-D SLAM
AuthorsInstitution or Email of AuthorsAuthor's ORCID iDORCID Put Code
Fontan, AlejandroDLRhttps://orcid.org/0000-0002-5909-8415UNSPECIFIED
Giubilato, RiccardoDLRhttps://orcid.org/0000-0002-3161-3171UNSPECIFIED
Oliva, LauraDLRhttps://orcid.org/0000-0001-5382-3025UNSPECIFIED
Civera, JavierUniversity of Zaragozahttps://orcid.org/0000-0003-1368-1151UNSPECIFIED
Triebel, RudolphUNSPECIFIEDhttps://orcid.org/0000-0002-7975-036XUNSPECIFIED
Date:2 March 2023
Journal or Publication Title:IEEE Robotics and Automation Letters
Refereed publication:Yes
Open Access:Yes
Gold Open Access:No
In ISI Web of Science:Yes
Page Range:pp. 1-8
Publisher:IEEE - Institute of Electrical and Electronics Engineers
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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