Monocular Direct Sparse Localization in a Prior 3D Surfel Map

23 Feb 2020 Haoyang Ye Huaiyang Huang Ming Liu

In this paper, we introduce an approach to tracking the pose of a monocular camera in a prior surfel map. By rendering vertex and normal maps from the prior surfel map, the global planar information for the sparse tracked points in the image frame is obtained... (read more)

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