SD-DefSLAM: Semi-Direct Monocular SLAM for Deformable and Intracorporeal Scenes
Juan J. Gómez-Rodríguez,José Lamarca,Javier Morlana,Juan D. Tardós,José M. M. Montiel,Juan J. Gómez-Rodríguez,José Lamarca,Javier Morlana,Juan D. Tardós,José M. M. Montiel
Conventional SLAM techniques strongly rely on scene rigidity to solve data association, ignoring dynamic parts of the scene. In this work we present Semi-Direct DefSLAM (SD-DefSLAM), a novel monocular deformable SLAM method able to map highly deforming environments, built on top of DefSLAM [1]. To robustly solve data association in challenging deforming scenes, SD-DefSLAM combines direct and indir...
