[4eyes] LSD-SLAM

[Chris Sweeney]

To summarize the paper: they perform SLAM using images directly without any
features. They do this by performing an optimization that aligns images in
areas of high gradient intensity. Depth estimates at these locations are
optimized and the uncertainty is recorded. Then they optimize keyframes to
include scale in addition to rotation and translation, so they're more
robust to drift. Any frames that aren't keyframes are used to reduce the
variance in depth estimation.

There were largely mixed opinions of this paper at ECCV and many were not
that impressed. I attended the talk and had a long discussion with Jakob
afterwards as well. Overall, the results are undeniably awesome and I'm
excited that it is open source but I don't think it is revolutionary by any
means. I would argue only has a tiny novelty. This is almost exactly the
same work that the Sarnoff Group (Michal Irani, David Nister, Anandan,
etc.) was doing in the 90's... but now we have faster computers. The only
addition I can see is tracking scale in keyframes which allows you to
easily change environments (i.e. go from indoor to outdoor) without scale
drift.

However, I would say that people should definitely start using this over
PTAM assuming the source code that is released is reasonable. It performs
faster, gives more accurate depth maps, and does not require multiple
threads so there is almost no reason to not use it...


On Thu, Sep 11, 2014 at 9:52 AM, Tobias Hollerer <holl at cs.ucsb.edu> wrote:

>
> People in the AR tracking community I respect and trust speak highly of
> (or rather have high expectation for) this work
> that is being presented at ECCV:
>
> http://vision.in.tum.de/research/lsdslam
> Open source license to be announced imminently.
>
> Chris, would you try to catch the talk at ECCV (today?), and report your
> impressions to the lab?
> Thanks & Cheers,
>
>     Tobias
>
> --
> Tobias Hollerer
> Professor, Department of Computer Science
> University of California, Santa Barbara, CA 93106-5110
>
> holl at cs.ucsb.edu, Office: (805)284-9395, Fax: (805)893-8553
>
>
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