360VO: Visual Odometry Using A Single 360 Camera
Huajian Huang,Sai-Kit Yeung,Huajian Huang,Sai-Kit Yeung
In this paper, we propose a novel direct visual odometry algorithm to take the advantage of a 360-degree camera for robust localization and mapping. Our system extends direct sparse odometry by using a spherical camera model to process equirectangular images without rectification to attain omnidirectional perception. After adapting mapping and optimization algorithms to the new model, camera param...
