Omnidirectional Dense SLAM for Back-to-back Fisheye Cameras
Weijian Xie,Guanyi Chu,Quanhao Qian,Yihao Yu,Shangjin Zhai,Danpeng Chen,Nan Wang,Hujun Bao,Guofeng Zhangv,Weijian Xie,Guanyi Chu,Quanhao Qian,Yihao Yu,Shangjin Zhai,Danpeng Chen,Nan Wang,Hujun Bao,Guofeng Zhangv
We propose a real-time visual-inertial dense SLAM system that utilizes the online data streams from back-to-back dual fisheye cameras setup, providing 360◦ coverage of the environment. Firstly, we employ a sliding-window-based front-end to estimate real-time poses from the binocular fisheye images and IMU data. Then, we implement a lightweight panoramic depth completion network based on multi-basi...
