Real-Time Dense Monocular SLAM With Online Adapted Depth Prediction Network

摘要

Considerable advances have been achieved in estimating the depth map from a single image via convolutional neural networks (CNNs) during the past few years. Combining depth prediction from CNNs with conventional monocular simultaneous localization and mapping (SLAM) is promising for accurate and dense monocular reconstruction, in particular addressing the two long-standing challenges in conventional monocular SLAM: low map completeness and scale ambiguity. However, depth estimated by pretrained CNNs usually fails to achieve sufficient accuracy for environments of different types from the training data, which are common for certain applications such as obstacle avoidance of drones in unknown scenes. Additionally, inaccurate depth prediction of CNN could yield large tracking errors in monocular SLAM. In this paper, we present a real-time dense monocular SLAM system, which effectively fuses direct monocular SLAM with an online-adapted depth prediction network for achieving accurate depth prediction of scenes of different types from the training data and providing absolute scale information for tracking and mapping. Specifically, on one hand, tracking pose (i.e., translation and rotation) from direct SLAM is used for selecting a small set of highly effective and reliable training images, which acts as ground truth for tuning the depth prediction network on-the-fly toward better generalization ability for scenes of different types. A stage-wise Stochastic Gradient Descent algorithm with a selective update strategy is introduced for efficient convergence of the tuning process. On the other hand, the dense map produced by the adapted network is applied to address scale ambiguity of direct monocular SLAM which in turn improves the accuracy of both tracking and overall reconstruction. The system with assistance of both CPUs and GPUs, can achieve real-time performance with progressively improved reconstruction accuracy. Experimental results on public datasets and live application to obstacle avoidance of drones demonstrate that our method outperforms the state-of-the-art methods with greater map completeness and accuracy, and a smaller tracking error.