This work is directed towards implementing a mapping system that relies only on a simple RGB camera as a sensor, where a depth map will be estimated from the image provided by the camera, then it will be refined, and reprojected as a dense 3-D point cloud to the world frame as a pseudo laser sensor, which will be used to map the environment using a Simultaneous Localization and Mapping algorithm.

Бархум М. (науч. рук. Пыркин А.А.) Environment Mapping Using Monocular Depth Estimation From RGB Images // Сборник тезисов докладов конгресса молодых ученых. Электронное издание. – СПб: Университет ИТМО, [2023]. URL: https://kmu.itmo.ru/digests/article/10164