Robust Initialization of Multi-camera SLAM with Limited View Overlaps and Inaccurate Extrinsic Calibration
Ang Li,Danping Zou,Wenxian Yu,Ang Li,Danping Zou,Wenxian Yu
This paper proposes a robust initialization method for a multi-camera visual SLAM system where cameras have only a limited common field of views and inaccurate extrinsic calibration. The limited common field of views leads to only a few common features that can be matched between cameras. Inaccurate extrinsic poses, caused by vibrations or misplacement of cameras after offline calibration, make it...
