2021
SD-DefSLAM: Semi-Direct Monocular SLAM for Deformable and Intracorporeal Scenes
ICRA 2021poster
Conventional SLAM techniques strongly rely on scene rigidity to solve data association, ignoring dynamic parts of the scene. In this work we present Semi-Direct DefSLAM (SD-DefSLAM), a novel monocular deformable SLAM method able to map highly deforming environments, built on top of DefSLAM [1]. To r…