IEEE - Institute of Electrical and Electronics Engineers, Inc. - Omnidirectional DSO: Direct Sparse Odometry With Fisheye Cameras

Author(s): Hidenobu Matsuki ; Lukas von Stumberg ; Vladyslav Usenko ; Jorg Stuckler ; Daniel Cremers
Sponsor(s): RAS
Publisher: IEEE - Institute of Electrical and Electronics Engineers, Inc.
Publication Date: 1 October 2018
Volume: 3
Page(s): 3,693 - 3,700
ISSN (CD): 2377-3774
ISSN (Electronic): 2377-3766
DOI: 10.1109/LRA.2018.2855443
Regular:

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 projection... View More

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