LVIF: a lightweight tightly coupled stereo-inertial SLAM with fisheye camera

Abstract To enhance the real-time performance and reduce CPU usage in feature-based visual SLAM, this paper introduces a lightweight tightly coupled stereo-inertial SLAM with fisheye cameras, incorporating several key innovations. First, the stereo-fisheye camera is treated as two independent monocu...

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發表在:	Complex & Intelligent Systems
Main Authors:	Hongwei Zhu, Guobao Zhang, Zhiqi Ye, Hongyi Zhou
格式:	Article
語言:	英语
出版:	Springer 2023-08-01
主題:	SLAM State estimation Graph optimization Fisheye camera
在線閱讀:	https://doi.org/10.1007/s40747-023-01190-5