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CubemapSLAM: A Piecewise-Pinhole Monocular Fisheye SLAM System
[article]
2019
arXiv
pre-print
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The results suggest that our system is more robust and accurate than other feature-based fisheye SLAM approaches. The CubemapSLAM system has been released into the public domain. ...
We present a real-time feature-based SLAM (Simultaneous Localization and Mapping) system for fisheye cameras featured by a large field-of-view (FoV). ...
Our system achieves better performance than directly rectifying the fisheye image into a pinhole image and the other existing featurebased fisheye SLAM system [27] . ...
arXiv:1811.12633v2
fatcat:z3adwe5i4rg5feiz7u6crkzaia
VISUAL ODOMETRY OF A MOBILE PALETTE ROBOT USING GROUND PLANE IMAGE FROM A FISHEYE CAMERA
2022
The International Archives of the Photogrammetry, Remote Sensing and Spatial Information Sciences
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In order to extract the feature information on the ground, we use a fisheye camera that has a larger FOV than a general pinhole camera, so that we can capture more information on the ground plane. ...
In this paper, we present a method of mobile robot's visual odometry using the visual feature tracking in the ground plane image generated from the fisheye image. ...
Cube SLAM: A Piecewise-Pinhole Monocular Fisheye SLAM System This work presents a novel CubemapSLAM system that incorporates the cubemap model into the ORB-SLAM which is a state-of-the-art feature-based ...
doi:10.5194/isprs-archives-xliii-b1-2022-431-2022
fatcat:si6ocnyi6ndlrptkwa7xkzo5ge
LF-VIO: A Visual-Inertial-Odometry Framework for Large Field-of-View Cameras with Negative Plane
[article]
2022
arXiv
pre-print
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With a comprehensive variety of experiments, the proposed LF-VIO is verified on both the established PALVIO benchmark and a public fisheye camera dataset with a FoV of 360x(0-93.5). ...
To address the scarcity of panoramic visual odometry datasets with ground-truth location and pose, we present the PALVIO dataset, collected with a Panoramic Annular Lens (PAL) system with an entire FoV ...
[25] proposed OpenVSLAM, which is a VO framework supporting panoramic cameras. Wang et al. [26] proposed CubemapSLAM, a piecewise-pinhole monocular fisheye SLAM system. ...
arXiv:2202.12613v3
fatcat:r6mewkeevbfinhwo2yli4xrnra
LF-VISLAM: A SLAM Framework for Large Field-of-View Cameras with Negative Imaging Plane on Mobile Agents
[article]
2023
arXiv
pre-print
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2023 pre-print arXiv:2209.05167v2 fatcat:7qzlbwjaqfblngc4ixlmyflwfuOther Versions
The attitude information of the SLAM system is leveraged to guide the feature point detection of the loop closure. ...
Simultaneous Localization And Mapping (SLAM) has become a crucial aspect in the fields of autonomous driving and robotics. ...
[32] proposed OpenVSLAM, which is a VO framework supporting panoramic cameras. Wang et al. [33] put forward CubemapSLAM, a piecewise-pinhole monocular fisheye-image-based visual SLAM system. ...
arXiv:2209.05167v3
fatcat:u4edsop4bzgjlodo6urpm7lyme