Semi-Direct Multimap SLAM System for Real-Time Sparse 3-D Map Reconstruction

Keyphrases

• Mapping System 100%
• 3D Map 100%
• Localization System 100%
• Semidirect 100%
• Simultaneous Localization and Mapping 100%
• Map Reconstruction 100%
• Multimap 100%
• Point Feature 60%
• Feature-based 40%
• Line Segments 40%
• Feature Segment 40%
• Computation Time 20%
• Accuracy Improvement 20%
• Low Speed 20%
• High Performance 20%
• Real-time Operation 20%
• Structure Optimization 20%
• Environmental Quality 20%
• Alignment Method 20%
• Direct Tracking 20%
• Structure Information 20%
• Camera Motion 20%
• Point Matching 20%
• Feature Map 20%
• Image Alignment 20%
• Fast Matching 20%
• Low Texture 20%
• Geometrical Structure 20%
• Reliable Performance 20%
• Fast Tracking 20%
• Environmental Structure 20%
• SLAM System 20%
• Motion Datasets 20%
• Low-textured Environment 20%
• Rotated BRIEF 20%
• Motion Optimization 20%
• Visual Localization 20%
• Monocular SLAM 20%
• Range Camera 20%
• Sparse Image 20%
• Oriented FAST 20%
• Tracking Points 20%
• Environment Structure 20%

Engineering

• Point Feature 100%
• Line Segment 66%
• Computational Time 33%
• Experimental Result 33%
• Accuracy Improvement 33%
• Camera Motion 33%
• Structure Information 33%
• Image Alignment 33%
• Keyframes 33%

Computer Science

• Simultaneous localization and mapping 100%
• Biggest Challenge 20%
• Experimental Result 20%
• Computational Time 20%
• Real Time Performance 20%
• Sufficient Number 20%
• Image Alignment 20%