Multi-level mapping: Real-time dense monocular SLAM

We present a method for Simultaneous Localization and Mapping (SLAM) using a monocular camera that is capable of reconstructing dense 3D geometry online without the aid of a graphics processing unit (GPU). Our key contribution is a multi-resolution depth estimation and spatial smoothing process that exploits the correlation between low-texture image regions and simple planar structure to adaptively scale the complexity of the generated keyframe depthmaps to the texture of the input imagery. High-texture image regions are represented at higher resolutions to capture fine detail, while low-texture regions are represented at coarser resolutions for smooth surfaces. The computational savings enabled by this approach allow for significantly increased reconstruction density and quality when compared to the state-of-the-art. The increased depthmap density also improves tracking performance as more constraints can contribute to the pose estimation. A video of experimental results is available at http://groups.csail.mit.edu/rrg/multi_level_mapping.