├── fig
└── mapping_example.png
└── README.md
/fig/mapping_example.png:
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https://raw.githubusercontent.com/HKUST-Aerial-Robotics/Pinhole-Fisheye-Mapping/HEAD/fig/mapping_example.png
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/README.md:
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1 | # Pinhole-Fisheye-Mapping
2 | ## A monocular dense mapping system for pinhole and fisheye cameras
3 |
4 | Please go to ```fisheye_mapping``` branch for fisheye application and go to ```pinhole_mapping``` branch for pinhole application.
5 |
6 | This is a monocular dense mapping system following the IROS 2018 submission **Adaptive Baseline Monocular Dense Mapping with Inter-frame Depth Propagation**, Kaixuan Wang, Shaojie Shen. The implementation will be open source after the acceptance of the paper.
7 |
8 | Benefiting from the proposed adaptive baseline matching cost computation, belief propagation based depth extraction and depth refinement using inter-frame propagated depth filter, our system can generate high-quality depth maps in real-time using a pinhole or a fisheye camera.
9 |
10 | An example of the system output is shown:
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12 | 
13 |
14 | A video can be used to illustrate the pipeline and the performance of our system:
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16 | 
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