Banca de QUALIFICAÇÃO: FILIPE CAMPOS DE ALCANTARA LINS

A Dense Direct SLAM Proposal Using Planar Regions as Features

SLAM, Structure From Motion, Image registration, Robotics.

The use of computer vision in simultaneous location and mapping (SLAM) techniques
has become standard. In recent years, an emphasis has been given by techniques on
the construction of dense maps, resulting in works that generate very realistic representations
of the world. However, the computational cost due to the expansion of these maps
becomes increasing as new environments are explored. Thus, there is a need to generate
map models so that from a little information a large amount of map regions can be explained.
One of the geometric structures that allows this is the planes, which are present
with abundance in man-made structures. Thus, the objective of this paper is to present a
proposal for a Dense Direct SLAM technique based on planar regions.