BAMF-SLAM: Bundle Adjusted Multi-Fisheye Visual-Inertial SLAM Using Recurrent Field Transforms
Wei Zhang,Sen Wang,Xingliang Dong,Rongwei Guo,Norbert Haala,Wei Zhang,Sen Wang,Xingliang Dong,Rongwei Guo,Norbert Haala
In this paper, we present BAMF-SLAM, a novel multi-fisheye visual-inertial SLAM system that utilizes Bundle Adjustment (BA) and recurrent field transforms (RFT) to achieve accurate and robust state estimation in challenging scenarios. First, our system directly operates on raw fisheye images, enabling us to fully exploit the wide Field-of-View (FoV) of fisheye cameras. Second, to overcome the low-...
