Towards Noise Resilient SLAM
Anirud Thyagharajan,Om Ji Omer,Dipan Mandal,Sreenivas Subramoney,Anirud Thyagharajan,Om Ji Omer,Dipan Mandal,Sreenivas Subramoney
Sparse-indirect SLAM systems have been dominantly popular due to their computational efficiency and photometric invariance properties. Depth sensors are critical to SLAM frameworks for providing scale information to the 3D world, yet known to be plagued by a wide variety of noise sources, possessing lateral and axial components. In this work, we demonstrate the detrimental impact of these depth no...
