Photo-SLAM: Real-time Simultaneous Localization and Photorealistic Mapping for Monocular, Stereo, and RGB-D Cameras

Photo-SLAM: Real-time Simultaneous Localization and Photorealistic...

Introduction

Limitations in previous models

1. RGB-D Camera 가 필요하거나
2. Optical Flow Estimator가 필요하거나
3. Monocular Depth Estimation이 필요하다.

Limitations for using implicit Models

1. Ray Sampling의 영역을 normalize해야하는데 scalability가 떨어진다.
2. 따라서 real-time exploration을 불가능하게 한다.

Hyper Primitives Map

1. PointClouds Storing ORB Features
2. Rotation , Scaling , Density, Spherical Harmonics ( SH )