We present COMO, a real-time monocular mapping and odometry system that encodes dense geometry via a compact set of 3D anchor poi

COMO: Compact Mapping and Odometry

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2024-10-04 08:30:02

We present COMO, a real-time monocular mapping and odometry system that encodes dense geometry via a compact set of 3D anchor points. Decoding anchor point projections into dense geometry via per-keyframe depth covariance functions guarantees that depth maps are joined together at visible anchor points. The representation enables joint optimization of camera poses and dense geometry, intrinsic 3D consistency, and efficient second-order inference. To maintain a compact yet expressive map, we introduce a frontend that leverages the covariance function for tracking and initializing potentially visually indistinct 3D points across frames. Altogether, we introduce a real-time system capable of estimating accurate poses and consistent geometry.

Research presented in this paper has been supported by Dyson Technology Ltd. We would like to thank Riku Murai, Hide Matsuki, Gwangbin Bae and members of the Dyson Robotics Lab for research discussions and feedback. The website template was derived from Michaël Gharbi and ReconFusion.