https://libeldoc.bsuir.by/handle/123456789/65616| Title: | Comparison of DSO and ORBSLAM3 in indoor environments using monocular visual slam |
| Authors: | Qiyao Yang Jun Ma Qicheng Guo |
| Keywords: | материалы конференций;monocular SLAM;indoor localization;photometric calibration |
| Issue Date: | 2026 |
| Publisher: | БГУИР |
| Citation: | Qiyao Yang. Comparison of DSO and ORBSLAM3 in indoor environments using monocular visual slam / Qiyao Yang, Jun Ma, Qicheng Guo // Технологии передачи и обработки информации : материалы Международного научно-технического семинара, Минск, апрель 2026 г. / Белорусский государственный университет информатики и радиоэлектроники ; редкол.: В. Ю. Цветков [и др.]. – Минск, 2026. – С. 186–194. |
| Abstract: | This thesis comparatively studies ORB-SLAM3 (Oriented FAST and Rotated BRIEF Simultaneous Localization and Mapping 3) and DSO (Direct Sparse Odometry) in indoor environments. We validate local implementation on public datasets and analyze self-recorded sequences from trajectory behavior, statistics, per-frame runtime, and mapping visualization. Results show ORB-SLAM3 excels in pose estimation and real-time performance, while DSO offers more informative semi-dense maps. Both degrade under low light/strong highlights with different failure modes, showing complementarity. |
| URI: | https://libeldoc.bsuir.by/handle/123456789/65616 |
| Appears in Collections: | Технологии передачи и обработки информации : материалы Международного научно-технического семинара (2026) |
| File | Description | Size | Format | |
|---|---|---|---|---|
| Qiyao_Yang_Comparison.pdf | 791.66 kB | Adobe PDF | View/Open |
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