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We propose a novel direct sparse visual odometry formulation.
Real-time 3-d motion and structure of point features: Front-end system for vision-based control and interaction
H. Jin, P. Favaro, and S. Soatto · 2000
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A semi-direct approach to structure from motion
H. Jin, P. Favaro, and S. Soatto · 2003
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MonoSLAM: Real-time single camera SLAM
A. Davison, I. Reid, N. Molton, and O. Stasse · 2007
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Parallel tracking and mapping for small AR workspaces
G. Klein and D. Murray · 2007
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Inverse depth parametrization for monocular SLAM
J. Civera, A. Davison, and J. Montiel · 2008
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A first-estimates Jacobian EKF for improving SLAM consistency
G. P. Huang, A. I. Mourikis, and S. I. Roumeliotis · 2008
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Real-time dense geometry from a handheld camera
J. Stühmer, S. Gumhold, and D. Cremers · 2010
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DTAM: Dense tracking and mapping in real-time
R. Newcombe, S. Lovegrove, and A. Davison · 2011
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Double window optimisation for constant time visual SLAM
H. Strasdat, A. J. Davison, J. M. M. Montiel, and K. Konolige · 2011
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iSAM2: Incremental smoothing and mapping using the Bayes tree
M. Kaess, H. Johannsson, R. Roberts, V. Ila, J. Leonard, and F. Dellaert · 2012
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Dense versus sparse approaches for estimating the fundamental matrix
L. Valgaerts, A. Bruhn, M. Mainberger, and J. Weickert · 2012
Cited alongside, same era.
Real-time motion estimation on a cellphone using inertial sensing and a rolling-shutter camera
M. Li, B. Kim, and A. Mourikis · 2013
Cited alongside, same era.
Spline fusion: A continuous-time representation for visual-inertial fusion with application to rolling shutter cameras
S. Lovegrove, A. Patron-Perez, and G. Sibley · 2013
Cited alongside, same era.
LSD-SLAM: Large-scale direct monocular SLAM
J. Engel, T. Schöps, and D. Cremers · 2014
Cited alongside, same era.
Scale-aware navigation of a low-cost quadrocopter with a monocular camera
Semi-dense visual odometry for AR on a smartphone
T. Schöps, J. Engel, and D. Cremers · 2014
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Large-scale direct SLAM for omnidirectional cameras
D. Caruso, J. Engel, and D. Cremers · 2015
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Large-scale direct slam with stereo cameras
J. Engel, J. Stueckler, and D. Cremers · 2015
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Dense continuous-time tracking and mapping with rolling shutter RGB-D cameras
C. Kerl, J. Stueckler, and D. Cremers · 2015
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Keyframe-based visual–inertial odometry using nonlinear optimization
S. Leutenegger, S. Lynen, M. Bosse, R. Siegwart, and P. Furgale · 2015
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ORB-SLAM: a versatile and accurate monocular SLAM system
R. Mur-Artal, J. Montiel, and J. Tardos · 2015
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J. Engel, J. Sturm, and D. Cremers · 2014
Cited alongside, same era.
SVO: Fast semi-direct monocular visual odometry
C. Forster, M. Pizzoli, and D. Scaramuzza · 2014
Cited alongside, same era.
A benchmark for RGB-D visual odometry, 3D reconstruction and SLAM
A. Handa, T. Whelan, J. McDonald, and A. Davison · 2014
Cited alongside, same era.
REMODE: Probabilistic, monocular dense reconstruction in real time
M. Pizzoli, C. Forster, and D. Scaramuzza · 2014
Cited alongside, same era.
The EuRoC micro aerial vehicle datasets
M. Burri, J. Nikolic, P. Gohl, T. Schneider, J. Rehder, S. Omari, M. Achtelik, and R. Siegwart · 2016
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A photometrically calibrated benchmark for monocular visual odometry
J. Engel, V. Usenko, and D. Cremers · 2016
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Dense monocular depth estimation in complex dynamic scenes
R. Ranftl, V. Vineet, Q. Chen, and V. Koltun · 2016
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