Beyond Features: Dense and Direct Methods for Visual SLAM and
Geometric Reconstruction
Daniel Cremers
(TU Munich, Germany)
Abstract:
The reconstruction of the 3D world from a moving camera is among the
central challenges in computer vision. While traditional approaches
have been focused on computing correspondence and 3D structure for a
sparse set of feature points, more recent approaches aim at directly
computing dense geometric surfaces using all available image data. In
my talk, I will present some recent developments on convex
formulations for dense reconstruction from multiple images or multiple
videos. Furthermore, I will present real-time capable direct methods
for reconstructing the world from handheld color or RGB-D cameras.
Applications include free-viewpoint television and augmented reality.
This is joint work with Kalin Kolev, Martin Oswald, Jakob Engel, Jan
Stühmer, Christian Kerl, Frank Steinbrücker and Jürgen Sturm