Dense Tracking and Mapping in Real-Time

Great ICCV paper by Richard Newcomb about tracking and mapping techniques with a single camera that even calculates a deth map in real time.

"DTAM is a system for real-time camera tracking and reconstruction which relies not on feature extraction but dense, every pixel methods. As a single hand-held RGB camera flies over a static scene, we estimate detailed textured depth maps at selected keyframes to produce a surface patchwork with millions of vertices. We use the hundreds of images available in a video stream to improve the quality of a simple photometric data term, and minimise a global spatially regularised energy functional in a novel non-convex optimisation framework. Interleaved, we track the camera 6DOF motion precisely by frame-rate whole image alignment against the entire dense model."