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1. (WO2015043872) SEMI-DENSE SIMULTANEOUS LOCALIZATION AND MAPPING

Pub. No.:    WO/2015/043872    International Application No.:    PCT/EP2014/068338
Publication Date: Fri Apr 03 01:59:59 CEST 2015 International Filing Date: Sat Aug 30 01:59:59 CEST 2014
IPC: G06T 7/00
Applicants: TECHNISCHE UNIVERSITÄT MÜNCHEN
Inventors: ENGEL, Jakob
STURM, Jürgen
CREMERS, Daniel
Title: SEMI-DENSE SIMULTANEOUS LOCALIZATION AND MAPPING
Abstract:
A method for estimating a pose of an image acquisition means and for determining depth information interleaves the steps of tracking a position and/or orientation of the image acquisition means and mapping by determining depth information. The depth information is determined for only a subset of the image pixels, for instance for those pixels for which the intensity variation is sufficiently high.