[4eyes] LSD-SLAM

[Chris Sweeney]

Here are a bunch of videos of LSD-SLAM:
https://www.youtube.com/watch?v=isHXcv_AeFg&list=UURf1mhfcDeJS2HLP6YR07kA
Like I said, the results are undeniably awesome.

It's clear that this semi-dens modeling would be great for something like
Steffen's work because you can use the depth estimates to form a collision
mesh over the scene (similar to the triangulated mesh I believe Steffen
uses).

They also had a paper at ISMAR on the same system. I would be curious to
hear impressions from anybody who attended.

On Thu, Sep 11, 2014 at 10:52 AM, Chris Sweeney <cmsweeney at cs.ucsb.edu>
wrote:

> 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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>
>
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