DTAM swMATH ID: 18889 Software Authors: R. A. Newcombe, S. J. Lovegrove, A. J. Davison Description: DTAM: Dense tracking and mapping 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’s 6DOF motion precisely by frame-rate whole image alignment against the entire dense model. Our algorithms are highly parallelisable throughout and DTAM achieves real-time performance using current commodity GPU hardware. We demonstrate that a dense model permits superior tracking performance under rapid motion compared to a state of the art method using features; and also show the additional usefulness of the dense model for real-time scene interaction in a physics-enhanced augmented reality application. Homepage: http://ieeexplore.ieee.org/abstract/document/6126513/ Related Software: ORB-SLAM2; LSD-SLAM; ORB-SLAM; KITTI; MonoSLAM; PyTorch; KinectFusion; FlowNet; Adam; Caffe; OpenCV; SBA; Key.Net; SVO; FastSLAM; SynSin; Make3D; PIFuHD; ViLBERT; BRISK Cited in: 8 Publications all top 5 Cited by 27 Authors 1 Agapito, Lourdes 1 Becker, Florian 1 Fursov, V. A. 1 Garg, Ravi 1 Hafner, David 1 Harasztos, Frigyes 1 Hollósi, Gergely 1 Hu, Youjian 1 Ilic, Slobodan 1 Kappes, Jörg Hendrik 1 Kehl, Wadim 1 Kotov, A. P. 1 Lenzen, Frank 1 Lukovszki, Csaba 1 Milford, Michael John 1 Minaev, E. Yu. 1 Moldován, István 1 Navab, Nassir 1 Plósz, Sándor 1 Roussos, Anastasios 1 Schnörr, Christoph 1 Schroers, Christopher 1 Shang, Jianga 1 Slavcheva, Miroslava 1 Szeliski, Richard 1 Weickert, Joachim 1 Yu, Fangwen Cited in 5 Serials 3 International Journal of Computer Vision 1 Biological Cybernetics 1 Automation and Remote Control 1 Acta Universitatis Sapientiae. Informatica 1 Texts in Computer Science Cited in 5 Fields 7 Computer science (68-XX) 2 Calculus of variations and optimal control; optimization (49-XX) 1 Operations research, mathematical programming (90-XX) 1 Biology and other natural sciences (92-XX) 1 Systems theory; control (93-XX) Citations by Year