LVIF: a lightweight tightly coupled stereo-inertial SLAM with fisheye camera

Abstract To enhance the real-time performance and reduce CPU usage in feature-based visual SLAM, this paper introduces a lightweight tightly coupled stereo-inertial SLAM with fisheye cameras, incorporating several key innovations. First, the stereo-fisheye camera is treated as two independent monocu...

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Autors principals:	Hongwei Zhu, Guobao Zhang, Zhiqi Ye, Hongyi Zhou
Format:	Artigo
Idioma:	Inglês
Publicat:	Springer 2023-08-01
Col·lecció:	Complex & Intelligent Systems
Matèries:	SLAM State estimation Graph optimization Fisheye camera
Accés en línia:	https://doi.org/10.1007/s40747-023-01190-5
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