MGS-SLAM: Monocular Sparse Tracking and Gaussian Mapping with Depth Smooth Regularization.
Pengcheng ZhuYaoming ZhuangBaoquan ChenLi LiChengdong WuZhanlin LiuPublished in: CoRR (2024)
Keyphrases
- visual slam
- loop closing
- model based tracking
- particle filter
- monocular slam
- simultaneous localization and mapping
- depth cues
- real time
- pose recovery
- dynamic environments
- camera tracking
- mobile robot
- image sequences
- visual odometry
- mixed norm
- human body tracking
- kalman filter
- visual tracking
- structured sparsity
- monocular camera
- sparsity regularization
- relative depth
- camera motion
- smoothness constraint
- regularization parameter
- particle filtering
- elastic net
- pose estimation
- depth map
- motion segmentation
- bundle adjustment
- single camera
- data association
- ego motion
- depth information
- appearance model
- motion model
- mean shift
- kalman filtering
- depth images
- sparse representation
- stereo camera