SD-DefSLAM: Semi-Direct Monocular SLAM for Deformable and Intracorporeal Scenes
Juan J. Gómez-Rodríguez José Lamarca Javier Morlana Juan D. Tardós José M. M. Montiel Juan J. Gómez-Rodríguez José Lamarca Javier Morlana Juan D. Tardós José M. M. Montiel
Conventional SLAM techniques strongly rely on scene rigidity to solve data association, ignoring dynamic parts of the scene. In this work we present Semi-Direct DefSLAM (SD-DefSLAM), a novel monocular deformable SLAM method able to map highly deforming environments, built on top of DefSLAM [1]. To robustly solve data association in challenging deforming scenes, SD-DefSLAM combines direct and indir...