OmniSLAM: Omnidirectional Localization and Dense Mapping for Wide-baseline Multi-camera Systems

Won Changhee

Seok Hochang

Cui Zhaopeng

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Pollefeys Marc

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Lim Jongwoo

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ICRA, pp. 559-566, 2020.

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omnidirectional depth estimationreal worldcamera systemdense mappingomnidirectional localizationMore(16+)

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We propose an integrated omnidirectional localization and dense mapping system for a wide-baseline multi-camera rig with wide FOV fisheye lenses

Abstract:

In this paper, we present an omnidirectional localization and dense mapping system for a wide-baseline multiview stereo setup with ultra-wide field-of-view (FOV) fisheye cameras, which has a 360 degrees coverage of stereo observations of the environment. For more practical and accurate reconstruction, we first introduce improved and lig...More

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