{"paper":{"title":"Closed-form Solution for IMU based LSD-SLAM Point Cloud Conversion into the Scaled 3D World Environment","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":[],"primary_cat":"cs.RO","authors_text":"Kristiaan Schreve, Matthias Ratsch, Sergey Triputen, Viktor Tkachev","submitted_at":"2017-07-19T08:56:04Z","abstract_excerpt":"SLAM is a very popular research stream in computer vision and robotics nowadays. For more effective SLAM implementation it is necessary to have reliable informa- tion about the environment, also the data should be aligned and scaled according to the real world coordinate system. Monocular SLAM research is an attractive sub-stream, because of the low equipment cost, size and weight. In this paper we present a way to build a conversion from LSD-SLAM coordinate space to the real world coordinates using a true metric scale with IMU sensor data implementation. The causes of differences between the "},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"1707.05982","kind":"arxiv","version":1},"verdict":{"id":null,"model_set":{},"created_at":null,"strongest_claim":"","one_line_summary":"","pipeline_version":null,"weakest_assumption":"","pith_extraction_headline":""},"references":{"count":0,"sample":[],"resolved_work":0,"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57","internal_anchors":0},"formal_canon":{"evidence_count":0,"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"author_claims":{"count":0,"strong_count":0,"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"builder_version":"pith-number-builder-2026-05-17-v1"}