Asynchronous Multi-View SLAM
Anqi Joyce Yang,Can Cui,Ioan Andrei Bârsan,Raquel Urtasun,Shenlong Wang,Anqi Joyce Yang,Can Cui,Ioan Andrei Bârsan,Raquel Urtasun,Shenlong Wang
Existing multi-camera SLAM systems assume synchronized shutters for all cameras, which is often not the case in practice. In this work, we propose a generalized multi-camera SLAM formulation which accounts for asynchronous sensor observations. Our framework integrates a continuous-time motion model to relate information across asynchronous multi-frames during tracking, local mapping, and loop clos...
