Photometric bundle adjustment (PBA) accurately estimates geometry from video. However, current PBA systems have a temporary map that cannot manage scene reobservations. We present, direct sparse mapping, a full monocular visual simultaneous localization and mapping (SLAM) based on PBA. Its persistent map handles reobservations, yielding the most accurate results up to date on EuRoC for a direct method.

中文翻译：

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直接稀疏映射

光度束调整 (PBA) 从视频准确估计几何。但是，当前的 PBA 系统具有无法管理场景重新观察的临时地图。我们提出了直接稀疏映射，一种基于 PBA 的全单目视觉同时定位和映射（SLAM）。其持久性地图处理重新观测，为直接方法在 EuRoC 上产生最新的最准确结果。