# Direct Sparse Mapping

arXiv: https://arxiv.org/abs/1904.06577 · HTML: https://mlsanity.com/paper/1904.06577/

## Key facts

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

## Built on by (most cited first, 25 of 25)

- [DROID-SLAM: Deep Visual SLAM for Monocular, Stereo, and RGB-D Cameras](https://mlsanity.com/paper/2108.10869/) (2021)
- [Toward General-Purpose Robots via Foundation Models: A Survey and Meta-Analysis](https://mlsanity.com/paper/2312.08782/) (2023)
- [RelPose: Predicting Probabilistic Relative Rotation for Single Objects in the Wild](https://mlsanity.com/paper/2208.05963/) (2022)
- [EgoLocate: Real-time Motion Capture, Localization, and Mapping with Sparse Body-mounted Sensors](https://mlsanity.com/paper/2305.01599/) (2023)
- [MoD-SLAM: Monocular Dense Mapping for Unbounded 3D Scene Reconstruction](https://mlsanity.com/paper/2402.03762/) (2024)
- [From SLAM to Situational Awareness: Challenges and Survey](https://mlsanity.com/paper/2110.00273/) (2021)
- [Tracking monocular camera pose and deformation for SLAM inside the human body](https://mlsanity.com/paper/2204.08309/) (2022)
- [NeRF-VO: Real-Time Sparse Visual Odometry with Neural Radiance Fields](https://mlsanity.com/paper/2312.13471/) (2023)
- [D3FlowSLAM: Self-Supervised Dynamic SLAM with Flow Motion Decomposition and DINO Guidance](https://mlsanity.com/paper/2207.08794/) (2022)
- [A Review on Visual-SLAM: Advancements from Geometric Modelling to Learning-based Semantic Scene Understanding](https://mlsanity.com/paper/2209.05222/) (2022)
- [Direct and Sparse Deformable Tracking](https://mlsanity.com/paper/2109.07370/) (2021)
- [VOOM: Robust Visual Object Odometry and Mapping using Hierarchical Landmarks](https://mlsanity.com/paper/2402.13609/) (2024)
- [H-SLAM: Hybrid Direct-Indirect Visual SLAM](https://mlsanity.com/paper/2306.07363/) (2023)
- [EndoMetric: Near-Light Monocular Metric Scale Estimation in Endoscopy](https://mlsanity.com/paper/2410.15065/) (2024)
- [RoMeO: Robust Metric Visual Odometry](https://mlsanity.com/paper/2412.11530/) (2024)
- [Depth Completion with Multiple Balanced Bases and Confidence for Dense Monocular SLAM](https://mlsanity.com/paper/2309.04145/) (2023)
- [ICON: Incremental CONfidence for Joint Pose and Radiance Field Optimization](https://mlsanity.com/paper/2401.08937/) (2024)
- [DK-SLAM: Monocular Visual SLAM with Deep Keypoint Learning, Tracking and Loop-Closing](https://mlsanity.com/paper/2401.09160/) (2024)
- [P2U-SLAM: A Monocular Wide-FoV SLAM System Based on Point Uncertainty and Pose Uncertainty](https://mlsanity.com/paper/2409.10143/) (2024)
- [Physically-Based Photometric Bundle Adjustment in Non-Lambertian Environments](https://mlsanity.com/paper/2409.11854/) (2024)
- [PointSLAM++: Robust Dense Neural Gaussian Point Cloud-based SLAM](https://mlsanity.com/paper/2601.11617/) (2026)
- [Accurate Visual-Inertial SLAM by Feature Re-identification](https://mlsanity.com/paper/2102.13438/) (2021)
- [Self-optimizing loop sifting and majorization for 3D reconstruction](https://mlsanity.com/paper/2104.10826/) (2021)
- [From 2D to 3D: AISG-SLA Visual Localization Challenge](https://mlsanity.com/paper/2407.18590/) (2024)
- [Lost in Tracking Translation: A Comprehensive Analysis of Visual SLAM in Human-Centered XR and IoT Ecosystems](https://mlsanity.com/paper/2411.07146/) (2024)

## 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.