Monocular Direct Sparse Localization in a Prior 3D Surfel Map
Haoyang Ye,Huaiyang Huang,Ming Liu,Haoyang Ye,Huaiyang Huang,Ming Liu
In this paper, we introduce an approach to tracking the pose of a monocular camera in a prior surfel map. By rendering vertex and normal maps from the prior surfel map, the global planar information for the sparse tracked points in the image frame is obtained. The tracked points with and without the global planar information involve both global and local constraints of frames to the system. Our ap...
