Embedding Temporally Consistent Depth Recovery for Real-time Dense Mapping in Visual-inertial Odometry

Hui Cheng, Zhuoqi Zheng, Jinhao He, Chongyu Chen, Keze Wang, Liang Lin
Oct 1, 2018
DOI
framework Photo by Jinhao He

A method to embed depth recovery algorithm into VIO-based sparse visual SLAM system for real-time dense mapping.

  • A subspace-based stabilization scheme to maintain the temporal consistency of visual landmarks.
  • A hierarchical pipeline for edge-preserving depth interpolation.
  • The whole pipeline is implemented using CPU only.

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