Submitted by Thomas Schöps.

Submission data

Full nameElasticFusion
DescriptionReal-time dense visual SLAM system capable of capturing comprehensive dense globally consistent surfel-based maps of room scale environments explored using an RGB-D camera.
ParametersDefault settings, however the input images have been cropped such that their width is a multiple of 4.
Publication titleElasticFusion: Real-Time Dense SLAM and Light Source Estimation
Publication authorsThomas Whelan, Renato F. Salas-Moreno, Ben Glocker, Andrew J. Davison, Stefan Leutenegger
Publication venueIJRR 2016
Publication URLhttp://www.thomaswhelan.ie/Whelan16ijrr.pdf
Programming language(s)C++ with CUDA and GLSL
HardwareIntel Core i7-6700K, GeForce 1080 GTX
Websitehttps://github.com/mp3guy/ElasticFusion
Source code or download URLhttps://github.com/mp3guy/ElasticFusion
Submission creation date17 Jun, 2019
Last edited17 Jun, 2019

High-res multi-view results



Infoallhigh-res
multi-view
indooroutdoorbotani.boulde.bridgedoorexhibi.lectur.living.loungeobserv.old co.statueterrac.
No results yet.

Low-res many-view results



Infoalllow-res
many-view
indooroutdoordelivery areaelectroforestplaygroundterrains
No results yet.

Low-res two-view results



Infoalllakes. 1llakes. 1ssand box 1lsand box 1sstora. room 1lstora. room 1sstora. room 2lstora. room 2sstora. room 2 1lstora. room 2 1sstora. room 2 2lstora. room 2 2sstora. room 3lstora. room 3stunnel 1ltunnel 1stunnel 2ltunnel 2stunnel 3ltunnel 3s
No results yet.

SLAM results



allcables 1cables 2cables 3camera shake 1camera shake 2camera shake 3ceiling 1ceiling 2desk 3desk changing 1einstein 1einstein 2einstein darkeinstein flashlighteinstein global light changes 1einstein global light changes 2einstein global light changes 3kidnap 1kidnap darklarge loop 1mannequin 1mannequin 3mannequin 4mannequin 5mannequin 7mannequin face 1mannequin face 2mannequin face 3mannequin headmotion 1planar 2planar 3plant 1plant 2plant 3plant 4plant 5plant darkplant scene 1plant scene 2plant scene 3reflective 1repetitivesfm benchsfm gardensfm house loopsfm lab room 1sfm lab room 2sofa 1sofa 2sofa 3sofa 4sofa dark 1sofa dark 2sofa dark 3sofa shaketable 3table 4table 7vicon light 1vicon light 2
MethodInfo
copyleftmany views89.061.181.51fail8.44failfailfailfailfailfail2.83failfailfailfail1.11failfailfailfail9.41failfailfailfailfail1.00failfailfail1.063.470.800.821.771.171.07failfailfailfailfailfailfailfailfailfailfail8.36failfailfailfail3.89fail8.63fail1.25failfailfail