OmniSLAM: Omnidirectional Localization and Dense Mapping for Wide-baseline Multi-camera Systems
Changhee Won,Hochang Seok,Zhaopeng Cui,Marc Pollefeys,Jongwoo Lim,Changhee Won,Hochang Seok,Zhaopeng Cui,Marc Pollefeys,Jongwoo Lim
In this paper, we present an omnidirectional localization and dense mapping system for a wide-baseline multiview stereo setup with ultra-wide field-of-view (FOV) fisheye cameras, which has a 360° coverage of stereo observations of the environment. For more practical and accurate reconstruction, we first introduce improved and light-weighted deep neural networks for the omnidirectional depth estima...
