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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Auteurs principaux:	Hongwei Zhu, Guobao Zhang, Zhiqi Ye, Hongyi Zhou
Format:	Artigo
Langue:	Inglês
Publié:	Springer 2023-08-01
Collection:	Complex & Intelligent Systems
Sujets:	SLAM State estimation Graph optimization Fisheye camera
Accès en ligne:	https://doi.org/10.1007/s40747-023-01190-5
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