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...
| Main Authors: | , , , |
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| Format: | Article |
| Language: | English |
| Published: |
Springer
2023-08-01
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| Series: | Complex & Intelligent Systems |
| Subjects: | |
| Online Access: | https://doi.org/10.1007/s40747-023-01190-5 |