论文标题
在先前的3D表面图中的单眼直接稀疏定位
Monocular Direct Sparse Localization in a Prior 3D Surfel Map
论文作者
论文摘要
在本文中，我们介绍了一种在先前的表面图中跟踪单眼相机姿势的方法。通过从先前的表面图渲染顶点和正常地图，可以获得图像框架中稀疏跟踪点的全局平面信息。带有和没有全球平面信息的跟踪点涉及系统框架的全球和局部约束。我们的方法以框架本地窗口内的直接光度误差的形式制定了所有约束。最终优化利用这些约束来提供对全局6-DOF摄像头构图的准确估计，以绝对量表。广泛的模拟和现实世界实验表明，我们的单眼方法可以在各种条件下提供准确的摄像头定位结果。
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 approach formulates all constraints in the form of direct photometric errors within a local window of the frames. The final optimization utilizes these constraints to provide the accurate estimation of global 6-DoF camera poses with the absolute scale. The extensive simulation and real-world experiments demonstrate that our monocular method can provide accurate camera localization results under various conditions.
