Jakob Engel, Thomas Schöps, Daniel Cremers Technical University Munich. LSD-SLAM: Large-Scale Direct Monocular SLAM
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1 Computer Vision Group Technical University of Munich Jakob Engel LSD-SLAM: Large-Scale Direct Monocular SLAM Jakob Engel, Thomas Schöps, Daniel Cremers Technical University Munich Monocular Video Engel, Schöps, Cremers Camera Motion and Scene Geometry 1
2 2 Live Operation real-time operation on laptop (no GPU)
3 3 (Some) Related Work Structure from Motion Causally Integrated Over Time. Chiuso, Favaro, Jin, Soatto; PAMI 02 Scalable monocular SLAM. Eade, Drummond; CVPR 06 MonoSLAM: Real-time single camera SLAM. Davison, Reid, Molton, Stasse; PAMI 07 Visual Odometry. Nistér, Naroditsky, Bergen; CVPR 04 Parallel Tracking and Mapping for Small AR Workspaces. Klein, Murray; ISMAR 07 Scale Drift-Aware Large Scale Monocular SLAM. Strasdat, Montiel, Davison; RSS 10 DTAM: Dense Tracking and Mapping in Real-Time. Newcombe, Lovegrove, Davison; ICCV 11 SVO: Fast Semi-Direct Monocular Visual Odometry. Forster, Pizzoli, Scaramuzza; ICRA 14
4 4 LSD-SLAM: what s new? Keypoint-Based Input Images Extract & Match Features (SIFT / SURF / BRIEF /...) Direct (LSD-SLAM) Input Images abstract images to feature observations Track: min. reprojection error (point distances) Map: est. feature-parameters (3D points / normals) keep full image Track: min. photometric error (intensity difference) Map: est. per-pixel depth (semi-dense depth map)
5 ...and why do that? can only use & reconstruct corners can use & reconstruct whole image Engel, Schöps, Cremers 5
6 6 Overview Input Video Depth Estimation Map Optimization Tracking Current KF Add to Map
7 7 Overview Input Video 30Hz Depth Estimation Map Optimization Tracking SE(3) alignment to current KF Current KF Add to Map
8 8 Tracking KF image KF depth
9 8 Tracking Camera Pose in KF image KF depth back-warped new frame
10 8 Tracking Camera Pose in KF image KF depth back-warped new frame
11 8 Tracking Camera Pose in KF image KF depth back-warped new frame minimize using Gauss-Newton Algorithm ( forward-compositional Lucas-Kanade)
12 9 Tracking multi-resolution (track large motions) Huber norm instead of L2 (outliers & occlusions) statistical normalization (respect depth- and pixel-noise) single core timings: 320x240: 5-10ms 640x480: 20-30ms
13 10 Overview Input Video 30Hz Depth Estimation Map Optimization Tracking SE(3) alignment to current KF Current KF Add to Map
14 11 Overview Input Video 30Hz Tracking SE(3) alignment to current KF Depth Estimation Create new KF Take KF? Refine KF Map Optimization Current KF Add to Map
15 Depth Estimation image inverse depth inverse depth variance pixelwise filtering (exploit video) small-baseline large baseline information selection only do stereo if sufficient information gain edge-preserving smoothing distance-based KF selection [Engel, Sturm, Cremers; ICCV 13] Engel, Schöps, Cremers 12
16 13 Overview Input Video 30Hz Tracking SE(3) alignment to current KF Depth Estimation Create new KF Take KF? Refine KF Map Optimization Current KF Add to Map
17 14 Overview Input Video 30Hz Tracking SE(3) alignment to current KF Depth Estimation Create new KF Take KF? Refine KF Map Optimization Current KF Add to Map
18 15 Input Video 30Hz Overview Depth Estimation Take KF? Map Optimization Sim(3) pose-graph Tracking SE(3) alignment to current KF Create new KF Refine KF Current KF Add to Map Sim(3) alignment to all nearby KFs Optional: FabMap for large loops
19 16 Global Mapping
20 16 Global Mapping Direct Tracking with scale (on Sim(3)): with (warped point)
21 16 Global Mapping Direct Tracking with scale (on Sim(3)): with (warped point)
22 16 Global Mapping Direct Tracking with scale (on Sim(3)): with (warped point) + GN optimization + multi-resolution + Huber norm + statistical norm.
23 16 Global Mapping Direct Tracking with scale (on Sim(3)): with (warped point) + GN optimization + multi-resolution + Huber norm + statistical norm. Optimize pose-graph on Sim(3)
24 17 Global Mapping
25 18 Input Video 30Hz Overview Depth Estimation Take KF? Map Optimization Sim(3) pose-graph Tracking SE(3) alignment to current KF Create new KF Refine KF Current KF Add to Map Sim(3) alignment to all nearby KFs Optional: FabMap for large loops
26 19 Results 6 minutes, 640x480@50fps: Tracked Frames, 800 Keyframes; Constraints; 51 Million Points
27 20 Results 12 minutes, Tracked Frames, Keyframes; Constraints; 100 Million Points
28 21 Results Semi-Dense Visual Odometry for AR on a Smartphone; T. Schöps, J. Engel, D. Cremers; ISMAR 14.
29 22 Key Ingredients Direct Tracking
30 22 Key Ingredients Direct Tracking Semi-Dense Stereo filter over many small-baseline frames strict information selection Pose-Graph on Sim(3)
31 LSD-SLAM Large-scale direct mono-slam Fully direct (no keypoints / features) Real-time even on CPU Open-source code & data-sets Engel, Schöps, Cremers 23
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