Monocular LSD-SLAM Integration within AR System
In this paper, we cover the process of integrating Large-Scale Direct Simultaneous Localization and Mapping (LSD-SLAM) algorithm into our existing AR stereo engine, developed for our modified "Augmented Reality Oculus Rift". With that, we are able to track one of our realworld cameras which are mounted on the rift, within a complete unknown environment. This makes it possible to achieve a constant and full augmentation, synchronizing our 3D movement (x, y, z) in both worlds, the real world and the virtual world. The development for the basic AR setup using the Oculus Rift DK1 and two fisheye cameras is fully documented in our previous paper. After an introduction to image-based registration, we detail the LSD-SLAM algorithm and document our code implementing our integration. The AR stereo engine with Oculus Rift support can be accessed via the GIT repository https://github.com/MaXvanHeLL/ARift.git and the modified LSD-SLAM project used for the integration is available here https://github.com/MaXvanHeLL/LSD-SLAM.git.
Code (2)
Tasks
Simultaneous Localization and MappingSimilar Papers 제목 키워드 기반
Depth Completion with Multiple Balanced Bases and Confidence for Dense Monocular SLAM
Dense SLAM based on monocular cameras does indeed have immense application value in the field of AR/VR, especially when it is performed on a mobile device. In this paper, we propose a novel method that integrates a light…
Depth CompletionTowards Real-Time Gaussian Splatting: Accelerating 3DGS through Photometric SLAM
Initial applications of 3D Gaussian Splatting (3DGS) in Visual Simultaneous Localization and Mapping (VSLAM) demonstrate the generation of high-quality volumetric reconstructions from monocular video streams. However, de…
3DGSSimultaneous Localization and MappingUDGS-SLAM : UniDepth Assisted Gaussian Splatting for Monocular SLAM
Recent advancements in monocular neural depth estimation, particularly those achieved by the UniDepth network, have prompted the investigation of integrating UniDepth within a Gaussian splatting framework for monocular S…
Depth EstimationBodySLAM: A Generalized Monocular Visual SLAM Framework for Surgical Applications
Endoscopic surgery relies on two-dimensional views, posing challenges for surgeons in depth perception and instrument manipulation. While Monocular Visual Simultaneous Localization and Mapping (MVSLAM) has emerged as a p…
3D ReconstructionDepth EstimationMonocular Depth EstimationPose Estimation+1AIM-SLAM: Dense Monocular SLAM via Adaptive and Informative Multi-View Keyframe Prioritization with Foundation Model
Recent advances in geometric foundation models have emerged as a promising alternative for addressing the challenge of dense reconstruction in monocular visual simultaneous localization and mapping (SLAM). Although geome…
Pose Estimation