Large-Scale Direct Monocular SLAM. LSD-SLAM is a semi-dense, direct SLAM method I developed during my PhD at TUM. It was based on a semi-dense monocular odometry approach, and - together with colleagues and students - we extended it to run in real-time on a smartphone, run with stereo cameras, run as a tightly coupled visual-inertial odometry, run on omnidirectional. delayed onset peripheral neuropathy
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