We propose a real-time, direct monocular SLAM method for omnidirectional or wide field-of-
view fisheye cameras. Both tracking (direct image alignment) and map** (pixel-wise …

We propose a novel real-time direct monocular visual odometry for omnidirectional cameras.
Our method extends direct sparse odometry by using the unified omnidirectional model as a …

In this paper, we propose panoramic annular simultaneous localization and map** (PA-
SLAM), a visual SLAM system based on a panoramic annular lens. A hybrid point selection …

Simultaneous Localization and Map** (SLAM) technology is one of the best methods for
fast 3D reconstruction and map**. However, the accuracy of SLAM is not always high …

In this work, we aim to improve the positioning accuracy of the visual simultaneous
localization and map** (VSLAM) through actively controlling the gaze of the positioning …

Accurate localization of moving sensors is essential for many fields, such as robot navigation
and urban map**. In this paper, we present a framework for GPS-supported visual …

In this paper, we present a complete pipeline for computing structure-from-motion from the
sequences of spherical images. We revisit problems from multiview geometry in the context …

Visual odometry has received a great deal of attention during the past decade. However,
being fragile to rapid motion and dynamic scenarios prevents it from practical use. Here, we …

In this paper we benchmark different types of cameras and evaluate their performance in
terms of reliable localization reliability and precision in Visual Simultaneous Localization …

Featured Application For an indoor mobile robot, finding its location and building
environment maps. Abstract As we know, SLAM (Simultaneous Localization and Map**) …