{"version":"1.0","provider_name":"Microsoft Research","provider_url":"https:\/\/www.microsoft.com\/en-us\/research","author_name":"Alyssa Hughes","author_url":"https:\/\/www.microsoft.com\/en-us\/research\/people\/v-alyhu\/","title":"BAD SLAM: Bundle Adjusted Direct RGB-D SLAM - Microsoft Research","type":"rich","width":600,"height":338,"html":"<blockquote class=\"wp-embedded-content\" data-secret=\"bLQFLgIbAo\"><a href=\"https:\/\/www.microsoft.com\/en-us\/research\/publication\/bad-slam-bundle-adjusted-direct-rgb-d-slam\/\">BAD SLAM: Bundle Adjusted Direct RGB-D SLAM<\/a><\/blockquote><iframe sandbox=\"allow-scripts\" security=\"restricted\" src=\"https:\/\/www.microsoft.com\/en-us\/research\/publication\/bad-slam-bundle-adjusted-direct-rgb-d-slam\/embed\/#?secret=bLQFLgIbAo\" width=\"600\" height=\"338\" title=\"&#8220;BAD SLAM: Bundle Adjusted Direct RGB-D SLAM&#8221; &#8212; Microsoft Research\" data-secret=\"bLQFLgIbAo\" frameborder=\"0\" marginwidth=\"0\" marginheight=\"0\" scrolling=\"no\" class=\"wp-embedded-content\"><\/iframe><script type=\"text\/javascript\">\n\/* <![CDATA[ *\/\n\/*! This file is auto-generated *\/\n!function(d,l){\"use strict\";l.querySelector&&d.addEventListener&&\"undefined\"!=typeof URL&&(d.wp=d.wp||{},d.wp.receiveEmbedMessage||(d.wp.receiveEmbedMessage=function(e){var t=e.data;if((t||t.secret||t.message||t.value)&&!\/[^a-zA-Z0-9]\/.test(t.secret)){for(var s,r,n,a=l.querySelectorAll('iframe[data-secret=\"'+t.secret+'\"]'),o=l.querySelectorAll('blockquote[data-secret=\"'+t.secret+'\"]'),c=new RegExp(\"^https?:$\",\"i\"),i=0;i<o.length;i++)o[i].style.display=\"none\";for(i=0;i<a.length;i++)s=a[i],e.source===s.contentWindow&&(s.removeAttribute(\"style\"),\"height\"===t.message?(1e3<(r=parseInt(t.value,10))?r=1e3:~~r<200&&(r=200),s.height=r):\"link\"===t.message&&(r=new URL(s.getAttribute(\"src\")),n=new URL(t.value),c.test(n.protocol))&&n.host===r.host&&l.activeElement===s&&(d.top.location.href=t.value))}},d.addEventListener(\"message\",d.wp.receiveEmbedMessage,!1),l.addEventListener(\"DOMContentLoaded\",function(){for(var e,t,s=l.querySelectorAll(\"iframe.wp-embedded-content\"),r=0;r<s.length;r++)(t=(e=s[r]).getAttribute(\"data-secret\"))||(t=Math.random().toString(36).substring(2,12),e.src+=\"#?secret=\"+t,e.setAttribute(\"data-secret\",t)),e.contentWindow.postMessage({message:\"ready\",secret:t},\"*\")},!1)))}(window,document);\n\/\/# sourceURL=https:\/\/www.microsoft.com\/en-us\/research\/wp-includes\/js\/wp-embed.min.js\n\/* ]]> *\/\n<\/script>\n","description":"A key component of Simultaneous Localization and Mapping (SLAM) systems is the joint optimization of the estimated 3D map and camera trajectory. Bundle adjustment (BA) is the gold standard for this. Due to the large number of variables in dense RGB-D SLAM, previous work has focused on approximating BA. In contrast, in this paper we [&hellip;]"}