Metrically-Scaled Monocular SLAM using Learned Scale Factors
W. Nicholas Greene,Nicholas Roy,W. Nicholas Greene,Nicholas Roy
We propose an efficient method for monocular simultaneous localization and mapping (SLAM) that is capable of estimating metrically-scaled motion without additional sensors or hardware acceleration by integrating metric depth predictions from a neural network into a geometric SLAM factor graph. Unlike learned end-to-end SLAM systems, ours does not ignore the relative geometry directly observable in...
