Dense/direct VSLAM

Parent: Visual SLAM Implementation Framework ,  slam_index See also: Feature-based vs direct SLAM workflow

Source: cometlabs

• Front-end part of the Visual SLAM Implementation Framework
• Use most or all of the pixels in each received frame
  • Provide more information about the environment
• Many more pixels, require GPUs
• Feature-based vs direct SLAM workflow
• Disadvantages:
  • Don’t handle outliers very well (outliers will be processed and implemented into the final map)
  • Slower than feature-based variants
• Aims to minimise photometric error (intensity differences)

Semi-dense

Dense map