FD-SLAM: 3-D Reconstruction Using Features and Dense Matching
Xingrui Yang,Yuhang Ming,Zhaopeng Cui,Andrew Calway,Xingrui Yang,Yuhang Ming,Zhaopeng Cui,Andrew Calway
It is well known that visual SLAM systems based on dense matching are locally accurate but are also susceptible to long-term drift and map corruption. In contrast, feature matching methods can achieve greater long-term consistency but can suffer from inaccurate local pose estimation when feature information is sparse. Based on these observations, we propose an RGB-D SLAM system that leverages the ...
