{"about":{"site":"https://codewithpapers.app","non_affiliation":"Code with Papers and Syntology are not affiliated with, endorsed by, or sponsored by Papers with Code, Meta, or the pwc-archive mirror.","licence":"CC BY-SA 4.0","licence_url":"https://creativecommons.org/licenses/by-sa/4.0/legalcode","attribution":"https://codewithpapers.app/attribution","modified":"archive material modified by Syntology; see the attribution page"},"url":"/paper/dba-fusion-tightly-integrating-deep-dense","title":"DBA-Fusion: Tightly Integrating Deep Dense Visual Bundle Adjustment with Multiple Sensors for Large-Scale Localization and Mapping","arxiv_id":"2403.13714","date":"2024-03-20","proceeding":null,"authors":["Yuxuan Zhou","Xingxing Li","Shengyu Li","Xuanbin Wang","Shaoquan Feng","Yuxuan Tan"],"abstract":"Visual simultaneous localization and mapping (VSLAM) has broad applications, with state-of-the-art methods leveraging deep neural networks for better robustness and applicability. However, there is a lack of research in fusing these learning-based methods with multi-sensor information, which could be indispensable to push related applications to large-scale and complex scenarios. In this paper, we tightly integrate the trainable deep dense bundle adjustment (DBA) with multi-sensor information through a factor graph. In the framework, recurrent optical flow and DBA are performed among sequential images. The Hessian information derived from DBA is fed into a generic factor graph for multi-sensor fusion, which employs a sliding window and supports probabilistic marginalization. A pipeline for visual-inertial integration is firstly developed, which provides the minimum ability of metric-scale localization and mapping. Furthermore, other sensors (e.g., global navigation satellite system) are integrated for driftless and geo-referencing functionality. Extensive tests are conducted on both public datasets and self-collected datasets. The results validate the superior localization performance of our approach, which enables real-time dense mapping in large-scale environments. The code has been made open-source (https://github.com/GREAT-WHU/DBA-Fusion).","url_abs":"https://arxiv.org/abs/2403.13714v1","url_pdf":"https://arxiv.org/pdf/2403.13714v1.pdf","source":{"archive":"pwc-archive (Hugging Face), CC BY-SA 4.0","snapshot":"2025-07-28","licence_url":"https://creativecommons.org/licenses/by-sa/4.0/legalcode","row_kind":"abstracts"},"code_links":[{"paper_slug":"dba-fusion-tightly-integrating-deep-dense","repo_url":"https://github.com/great-whu/dba-fusion","is_official":1,"mentioned_in_paper":1,"mentioned_in_github":1,"framework":"pytorch","reach":null}],"tasks":[{"task_slug":"optical-flow-estimation","task_name":"Optical Flow Estimation"},{"task_slug":"sensor-fusion","task_name":"Sensor Fusion"},{"task_slug":"simultaneous-localization-and-mapping","task_name":"Simultaneous Localization and Mapping"}],"methods":[],"datasets_introduced":[],"methods_introduced":[],"results":[],"syntology":{"atlas_url":null,"mcp":null,"developers":"https://syntology.ai/developers"},"arxiv_metadata":null,"syntology_extracted_results":null}