Author: Chao Qu
Year: 2022
- speed up DSO up to 5 times for micro aerials with low payload
- combination of direct and sparse odometry
- Stereo systems allow direct initialization
- direct methods are based on constant brightness assumption
- for direct image alignement we optimize the pose and the affine brightness parameter wrt the local map
- photometric error: weighted sum of the squarred difference of a pixel patch and its warped pixel patch on the current framed
- inverse compositionnal alignement (?)
- frame to window algnement: creates a virtual larger FOV
- solve photometric bundle adjustement on a set of KF
- classic marginalization
VO frontend:
- KF voting with mean squarred optical flow, brightness transformation
- rule of thumb: KF voted when the current image cannot be reliably tracked wrt the sliding window
- point depth init in decreasing order: depth image, stereo, map points interpolation
Implementation:
- data oriented philosophy: insist on array based data structure
- modern C++ design principle
Results:
- works in RT at 60fps with a realsense