Author: Hong
Year: 2021
- SLAM based method with stereo camera and deep learning based disparity map estimation
- Adaptation of S-PTAM, which is a stereo BA based SLAM
- Loop closure with BoW
- S-PTAM enables sparse mapping => necessity of a dense mapping method
- Self-supervised method for disparity map computation based on a SSIM loss
- Disparity map is also used to assist localization: is used to perform geometric check for loop closure and for feature matching procedure
- CNN run at 50Hz on a single GPU
- AKAZE used to extract and match features
Papier intéressant, mais pas de contribution majeure. S'en inspirer pour mes travaux