{"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/loosely-coupled-semi-direct-monocular-slam","title":"Loosely-Coupled Semi-Direct Monocular SLAM","arxiv_id":"1807.10073","date":"2018-07-26","proceeding":null,"authors":["Seong Hun Lee","Javier Civera"],"abstract":"We propose a novel semi-direct approach for monocular simultaneous\nlocalization and mapping (SLAM) that combines the complementary strengths of\ndirect and feature-based methods. The proposed pipeline loosely couples direct\nodometry and feature-based SLAM to perform three levels of parallel\noptimizations: (1) photometric bundle adjustment (BA) that jointly optimizes\nthe local structure and motion, (2) geometric BA that refines keyframe poses\nand associated feature map points, and (3) pose graph optimization to achieve\nglobal map consistency in the presence of loop closures. This is achieved in\nreal-time by limiting the feature-based operations to marginalized keyframes\nfrom the direct odometry module. Exhaustive evaluation on two benchmark\ndatasets demonstrates that our system outperforms the state-of-the-art\nmonocular odometry and SLAM systems in terms of overall accuracy and\nrobustness.","url_abs":"http://arxiv.org/abs/1807.10073v3","url_pdf":"http://arxiv.org/pdf/1807.10073v3.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":"loosely-coupled-semi-direct-monocular-slam","repo_url":"https://github.com/sunghoon031/LCSD_SLAM","is_official":1,"mentioned_in_paper":0,"mentioned_in_github":1,"framework":"none","reach":null}],"tasks":[{"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}