DROID-SLAM: Deep Visual SLAM for Monocular, Stereo, and RGB-D CamerasDownload PDF

21 May 2021, 20:41 (modified: 24 Jan 2022, 15:59)NeurIPS 2021 OralReaders: Everyone
Keywords: SLAM, Simultaneous Localization and Mapping, 3D
Abstract: We introduce DROID-SLAM, a new deep learning based SLAM system. DROID-SLAM consists of recurrent iterative updates of camera pose and pixelwise depth through a Dense Bundle Adjustment layer. DROID-SLAM is accurate, achieving large improvements over prior work, and robust, suffering from substantially fewer catastrophic failures. Despite training on monocular video, it can leverage stereo or RGB-D video to achieve improved performance at test time. The URL to our open source code is https://github.com/princeton-vl/DROID-SLAM.
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Code: https://github.com/princeton-vl/DROID-SLAM
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