ROVO: Robust Omnidirectional Visual Odometryfor Wide-baseline Wide-FOV Camera Systems
ICRA, pp. 6344-6350, 2019.
In this paper we propose a robust visual odometry system for a wide-baseline camera rig with wide field-of-view (FOV) fisheye lenses, which provides full omnidirectional stereo observations of the environment. For more robust and accurate ego-motion estimation we adds three components to the standard VO pipeline, 1) the hybrid projection ...More
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