We present COMO, a real-time monocular mapping and odometry system that encodes dense geometry via a compact set of 3D anchor points. Decoding anchor point projections into dense geometry via per-keyframe depth covariance functions guarantees that depth maps are joined together at visible anchor points. The representation enables joint optimization of camera poses and dense geometry, intrinsic 3D consistency, and efficient second-order inference. To maintain a compact yet expressive map, we introduce a frontend that leverages the covariance function for tracking and initializing potentially visually indistinct 3D points across frames. Altogether, we introduce a real-time system capable of estimating accurate poses and consistent geometry.

翻译：摘要：我们提出COMO，一种实时单目映射与里程计系统，通过紧凑的三维锚点集合编码稠密几何。利用每帧深度协方差函数将锚点投影解码为稠密几何，确保深度图在可见锚点处实现拼接。该表示方法支持相机位姿与稠密几何的联合优化、内在三维一致性以及高效二阶推断。为维持紧凑且富有表达力的地图，我们引入前端模块，利用协方差函数跨帧跟踪和初始化潜在视觉模糊的三维点。综上，我们提出一个能够估计精确位姿与一致性几何的实时系统。