@inproceedings{09b1585e30a746359378a00849ec6183,
title = "Reconstructing Street-Scenes in Real-Time from a Driving Car",
abstract = "Most current approaches to street-scene 3D reconstruction from a driving car to date rely on 3D laser scanning or tedious offline computation from visual images. In this paper, we compare a real-time capable 3D reconstruction method using a stereo extension of large-scale direct SLAM (LSD-SLAM) with laser-based maps and traditional stereo reconstructions based on processing individual stereo frames. In our reconstructions, small-baseline comparison over several subsequent frames are fused with fixed-baseline disparity from the stereo camera setup. These results demonstrate that our direct SLAM technique provides an excellent compromise between speed and accuracy, generating visually pleasing and globally consistent semi-dense reconstructions of the environment in real-time on a single CPU.",
keywords = "Cameras, Image reconstruction, Real-time systems, Simultaneous localization and mapping, Three-dimensional displays, Tracking",
author = "Vladyslav Usenko and Jakob Engel and Jorg Stuckler and Daniel Cremers",
note = "Publisher Copyright: {\textcopyright} 2015 IEEE.; 2015 International Conference on 3D Vision, 3DV 2015 ; Conference date: 19-10-2015 Through 22-10-2015",
year = "2015",
month = nov,
day = "20",
doi = "10.1109/3DV.2015.75",
language = "English",
series = "Proceedings - 2015 International Conference on 3D Vision, 3DV 2015",
publisher = "Institute of Electrical and Electronics Engineers Inc.",
pages = "607--614",
editor = "Michael Brown and Jana Kosecka and Christian Theobalt",
booktitle = "Proceedings - 2015 International Conference on 3D Vision, 3DV 2015",
}