mlsanityData to 14 Oct 2026

Direct Sparse Mapping

arXiv 1904.06577 ↗First posted 13 Apr 2019cs.CV cs.ROcited by 25

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Abstract (arXiv)

Photometric bundle adjustment, PBA, accurately estimates geometry from video. However, current PBA systems have a temporary map that cannot manage scene reobservations. We present, DSM, a full monocular visual SLAM based on PBA. Its persistent map handles reobservations, yielding the most accurate results up to date on EuRoC for a direct method.

Key facts. Cited by 25 papers in the map (data through 14 Oct 2026). First posted on arXiv 13 Apr 2019.

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Cited by year (2026 to 14 Oct)

Citing papers per year: 2021: 5; 2022: 4; 2023: 5; 2024: 10; 2025: 0; 2026: 1.

25 papers.

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  1. 2021DROID-SLAM: Deep Visual SLAM for Monocular, Stereo, and RGB-D Camerascited by 687
  2. 2023Toward General-Purpose Robots via Foundation Models: A Survey and Meta-Analysiscited by 103
  3. 2022RelPose: Predicting Probabilistic Relative Rotation for Single Objects in the Wildcited by 102
  4. 2023EgoLocate: Real-time Motion Capture, Localization, and Mapping with Sparse Body-mounted Sensorscited by 48
  5. 2024MoD-SLAM: Monocular Dense Mapping for Unbounded 3D Scene Reconstructioncited by 18
  6. 2021From SLAM to Situational Awareness: Challenges and Surveycited by 15
  7. 2022Tracking monocular camera pose and deformation for SLAM inside the human bodycited by 10
  8. 2023NeRF-VO: Real-Time Sparse Visual Odometry with Neural Radiance Fieldscited by 10
  9. 2022D3FlowSLAM: Self-Supervised Dynamic SLAM with Flow Motion Decomposition and DINO Guidancecited by 9
  10. 2022A Review on Visual-SLAM: Advancements from Geometric Modelling to Learning-based Semantic Scene Understandingcited by 8
  11. 2021Direct and Sparse Deformable Trackingcited by 7
  12. 2024VOOM: Robust Visual Object Odometry and Mapping using Hierarchical Landmarkscited by 6
13 more
  1. 2023H-SLAM: Hybrid Direct-Indirect Visual SLAMcited by 4
  2. 2024EndoMetric: Near-Light Monocular Metric Scale Estimation in Endoscopycited by 3
  3. 2024RoMeO: Robust Metric Visual Odometrycited by 3
  4. 2023Depth Completion with Multiple Balanced Bases and Confidence for Dense Monocular SLAMcited by 2
  5. 2024ICON: Incremental CONfidence for Joint Pose and Radiance Field Optimizationcited by 1
  6. 2024DK-SLAM: Monocular Visual SLAM with Deep Keypoint Learning, Tracking and Loop-Closingcited by 1
  7. 2024P2U-SLAM: A Monocular Wide-FoV SLAM System Based on Point Uncertainty and Pose Uncertaintycited by 1
  8. 2024Physically-Based Photometric Bundle Adjustment in Non-Lambertian Environmentscited by 1
  9. 2026PointSLAM++: Robust Dense Neural Gaussian Point Cloud-based SLAMcited by 1
  10. 2021Accurate Visual-Inertial SLAM by Feature Re-identificationcited by 0
  11. 2021Self-optimizing loop sifting and majorization for 3D reconstructioncited by 0
  12. 2024From 2D to 3D: AISG-SLA Visual Localization Challengecited by 0
  13. 2024Lost in Tracking Translation: A Comprehensive Analysis of Visual SLAM in Human-Centered XR and IoT Ecosystemscited by 0