How to visualize the dense reconstruction presented in your paper？

[qian5683]

Thanks for your good work！ I want to know how to visualize the reconstructed map

[FuTaimeng]

Hi, thank you for the question.

We used a straightforward mapping method, as the localization process doesn't rely on this map: we project each left image into 3D space using stereo depth, transform the point clouds with the predicted poses, and then aggregate all frames together.

I've uploaded the code as mapper.py in the dev branch, hope you find it helpful.