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：本文提出COMO，一种实时单目建图与里程计系统，通过紧凑的三维锚点集合编码稠密几何结构。通过逐关键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无缝衔接。该表征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理。为维持紧凑且表达能力强的地图，我们提出一种前端系统，利用协方差函数进行跨帧跟踪与初始化可能视觉特征不明显的三维点。整体而言，我们构建的实时系统能够同时估计精确位姿与一致几何结构。