A Visual SLAM System Based on the Panoramic Camera

Due to the limited field of view of the pinhole camera, there is a lack of stability and accuracy in camera pose estimation applications such as visual SLAM. In order to solve this problem, a visual SLAM algorithm based on a panoramic camera is proposed to realize high-precision camera pose estimati...

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Bibliographic Details
Published in:	2019 IEEE International Conference on Real-time Computing and Robotics (RCAR) pp. 53 - 58
Main Authors:	Zhu, Xiao X., Yu, Yuan, Wang, Peng F., Lin, Ming J., Zhang, Hao R., Cao, Qi X.
Format:	Conference Proceeding
Language:	English
Published:	IEEE 01-08-2019
Subjects:	Cameras Feature extraction Optimization Real-time systems Simultaneous localization and mapping Thermal stability Visualization
Online Access:	Get full text
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Summary:	Due to the limited field of view of the pinhole camera, there is a lack of stability and accuracy in camera pose estimation applications such as visual SLAM. In order to solve this problem, a visual SLAM algorithm based on a panoramic camera is proposed to realize high-precision camera pose estimation and 3D sparse feature map construction. The indoor and outdoor experiments show that the proposed visual SLAM system is superior to that based on pinhole camera in both stability and precision, and it provides and effective solution for the localization and navigation of the mobile robots.
DOI:	10.1109/RCAR47638.2019.9044117