[robotics-worldwide] [software] Source code for DPPTAM, a dense monocular odometry.
Alejo Concha Belenguer
aconchabelenguer at gmail.com
Wed Dec 2 13:18:02 PST 2015
We are pleased to release the source code for our dense monocular odometry
algorithm, called DPPTAM.
It is described in our IROS 2015 paper:
 Alejo Concha, Javier Civera. DPPTAM: Dense Piecewise Planar Tracking
and Mapping from a Monocular Sequence. In IEEE/RSJ International Conference
on Intelligent Robots and Systems (IROS15), Hamburg, Germany, 2015
DPPTAM is a direct monocular odometry algorithm that estimates a dense
reconstruction of a scene in real-time on a CPU. Highly textured image
areas are mapped using standard direct mapping techniques, that minimize
the photometric error across different views. We make the assumption that
homogeneous-color regions belong to approximately planar areas.
The source code is released under GPLv3 license. For details please view
the licence file in the source.
Source code https://github.com/alejocb/dpptam
We hope that people find it useful.
University of Zaragoza
More information about the robotics-worldwide