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Real time dense tracking and mapping using a monocular camera

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Academic year: 2020

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Figure 1.1: Proposed system for dense localization and mapping using shape priors. On the left, the system works with a monocular camera
Figure 2.10: Dense Map built using depth maps of keyframes. The trajectory is drawn in orange and keyframes are blue spheres.
Figure 2.12: 3D reconstruction resulting from fusing synthetic depth maps and color of the scene, from the estimated camera pose.
Figure 2.14: Dense reconstruction for the sequence fr1/desk of TUM, with color from the scene.
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