论文标题
DSOL：快速直接稀疏的探针计方案
DSOL: A Fast Direct Sparse Odometry Scheme
论文作者
论文摘要
在本文中，我们描述了直接的稀疏探针光Lite（DSOL），这是一种改进的直接稀疏探光（DSO）的版本。我们提出了几种算法和实现增强功能，即使在资源约束平台上，这些算法和实现增强功能也会加快一个重要因素（平均5倍）。速度的提高使我们能够以更高的帧速率处理图像，从而为快速动作提供了更好的结果。我们的开源实现可在https://github.com/versatran01/dsol上获得。
In this paper, we describe Direct Sparse Odometry Lite (DSOL), an improved version of Direct Sparse Odometry (DSO). We propose several algorithmic and implementation enhancements which speed up computation by a significant factor (on average 5x) even on resource constrained platforms. The increase in speed allows us to process images at higher frame rates, which in turn provides better results on rapid motions. Our open-source implementation is available at https://github.com/versatran01/dsol.
