Deep Patch Visual SLAM

Recent work in Visual Odometry and SLAM has shown the effectiveness of using deep network backbones. Despite excellent performance, such approaches are often expensive to run or do not generalize well zero-shot. To address this problem, we introduce Deep Patch Visual-SLAM, a new system for monocular visual SLAM based on the DPVO visual odometry system. We introduce (1) a backend for long-term loop-closure, and (2) a separate mid-term backend with efficient global optimization. On real-world datasets, DPV-SLAM runs at 2x real-time framerates. We achieve the same accuracy as DROID-SLAM on EuRoC while running twice as fast using a third of the VRAM. We also outperform DROID-SLAM by large margins on KITTI and TartanAir.