LF-VIO: A Visual-Inertial-Odometry Framework for Large Field-of-View Cameras with Negative Plane
Ze Wang,Kailun Yang,Hao Shi,Peng Li,Fei Gao,Kaiwei Wang,Ze Wang,Kailun Yang,Hao Shi,Peng Li,Fei Gao,Kaiwei Wang
Visual-inertial-odometry has attracted extensive attention in the field of autonomous driving and robotics. The size of Field of View (FoV) plays an important role in Visual-Odometry (VO) and Visual-Inertial-Odometry (VIO), as a large FoV enables to perceive a wide range of surrounding scene elements and features. However, when the field of the camera reaches the negative half plane, one cannot si...
