A Hybrid Sparse-Dense Monocular SLAM System For Autonomous Driving

Louis Gallagher and John B. McDoanld

Department of Computer Science, National University of Ireland Maynooth, Co. Kildare, Ireland.

Varun Kumar

Valeo DAR Kronach, Germany

Senthil Yogamani

Valeo Vision Systems,Ireland

viewport
Figure: A dense mapping session in our system involving a loop closure

Sample Data Download:

viewport
Figure: Model estimated by our system, colored by error w.r.t nearest point in Velodyne ground truth model (blue)

This data is reformatting of the data in the KITTI dataset as per the publication "Are we ready for Autonomous Driving? The KITTI Vision Benchmark Suite", A. Geiger, P. Lenz, and R. Urtasun, CVPR 2012, and so falls under the same license as the original data.

Contact: Louis.Gallagher@mu.ie