Comments (2)
nynyg
commented on May 31, 2024
1
Hi @chenerg, thanks for your interest in our work.
Since the rendered depth is from the global TSDF grids, it could deliver more globally consistent depth which reduces the tracking drift.
Table 1 of our paper shows our evaluation on the EuRoC dataset. The column of "DSO+Dense Depth" shows the results of directly using the dense depth map predicted by CVA-MVSNet for tracking. As you can see there, "Ours" which uses the rendered depth achieved better results.
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chenerg
commented on May 31, 2024
Thanks! That's what I missed.
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