Redesigning SLAM for Arbitrary Multi-Camera Systems
Juichung Kuo,Manasi Muglikar,Zichao Zhang,Davide Scaramuzza,Juichung Kuo,Manasi Muglikar,Zichao Zhang,Davide Scaramuzza
Adding more cameras to SLAM systems improves robustness and accuracy but complicates the design of the visual front-end significantly. Thus, most systems in the literature are tailored for specific camera configurations. In this work, we aim at an adaptive SLAM system that works for arbitrary multi-camera setups. To this end, we revisit several common building blocks in visual SLAM. In particular,...
