no code implementations • 18 Mar 2020 • Changhee Won, Hochang Seok, Zhaopeng Cui, Marc Pollefeys, Jongwoo Lim
In this paper, we present an omnidirectional localization and dense mapping system for a wide-baseline multiview stereo setup with ultra-wide field-of-view (FOV) fisheye cameras, which has a 360 degrees coverage of stereo observations of the environment.
1 code implementation • 28 Feb 2019 • Hochang Seok, Jongwoo Lim
For more robust and accurate ego-motion estimation we adds three components to the standard VO pipeline, 1) the hybrid projection model for improved feature matching, 2) multi-view P3P RANSAC algorithm for pose estimation, and 3) online update of rig extrinsic parameters.