Imperial College London


Faculty of EngineeringDepartment of Computing

Senior Lecturer



+44 (0)20 7594 7123s.leutenegger Website




360ACE ExtensionSouth Kensington Campus






BibTex format

author = {Platinsky, L and Davison, AJ and Leutenegger, S},
publisher = {IEEE},
title = {Monocular visual odometry: sparse joint optimisation or densealternation?},
url = {},

RIS format (EndNote, RefMan)

AB - Real-time monocular SLAM is increasingly ma-ture and entering commercial products. However, there is adivide between two techniques providing similar performance.Despite the rise of ‘dense’ and ‘semi-dense’ methods which uselarge proportions of the pixels in a video stream to estimatemotion and structure via alternating estimation, they havenot eradicated feature-based methods which use a significantlysmaller amount of image information from keypoints and retaina more rigorous joint estimation framework. Dense methodsprovide more complete scene information, but in this paperwe focus on how the amount of information and differentoptimisation methods affect the accuracy of local motionestimation (monocular visual odometry). This topic becomesparticularly relevant after the recent results from a direct sparsesystem. We propose a new method for fairly comparing theaccuracy of SLAM frontends in a common setting. We suggestcomputational cost models for an overall comparison whichindicates that there is relative parity between the approaches atthe settings allowed by current serial processors when evaluatedunder equal conditions.
AU - Platinsky,L
AU - Davison,AJ
AU - Leutenegger,S
TI - Monocular visual odometry: sparse joint optimisation or densealternation?
UR -
ER -