Voxel Map for Visual SLAM
Manasi Muglikar,Zichao Zhang,Davide Scaramuzza,Manasi Muglikar,Zichao Zhang,Davide Scaramuzza
In modern visual SLAM systems, it is a standard practice to retrieve potential candidate map points from overlapping keyframes for further feature matching or direct tracking. In this work, we argue that keyframes are not the optimal choice for this task, due to several inherent limitations, such as weak geometric reasoning and poor scalability. We propose a voxel-map representation to efficiently...
