Presentation

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X-SLAM: Scalable Dense SLAM for Task-aware Optimization Using CSFD

DescriptionX-SLAM is a real-time dense differentiable SLAM system. It exploits CSFD for an accurate and robust (high-order) numerical differentiation, which avoids the need for the computational graph and substantially reduces the memory footprint. X-SLAM is compatible with most SLAM algorithms. Evaluations via real-world applications show clear improvements over existing solutions.

Authors

Zhexi Peng

Zhejiang University