@article{
 title = {Large-scale direct SLAM for omnidirectional cameras},
 type = {article},
 year = {2015},
 keywords = {Cameras,Computational modeling,Lenses,Nonlinear distortion,Simultaneous localization and mapping,Three-dimensional displays},
 pages = {141-148},
 volume = {2015-Decem},
 id = {abc69db6-a50f-3b5d-bb00-5ac97162376d},
 created = {2022-09-08T05:59:12.753Z},
 file_attached = {true},
 profile_id = {235249c2-3ed4-314a-b309-b1ea0330f5d9},
 group_id = {5ec9cc91-a5d6-3de5-82f3-3ef3d98a89c1},
 last_modified = {2022-09-09T05:37:39.284Z},
 read = {false},
 starred = {false},
 authored = {false},
 confirmed = {true},
 hidden = {false},
 folder_uuids = {97693603-b330-4e3e-8cf5-d549e6474921},
 private_publication = {false},
 abstract = {We propose a real-time, direct monocular SLAM method for omnidirectional or wide field-of-view fisheye cameras. Both tracking (direct image alignment) and mapping (pixel-wise distance filtering) are directly formulated for the unified omnidirectional model, which can model central imaging devices with a field of view above 180 °. This is in contrast to existing direct mono-SLAM approaches like DTAM or LSD-SLAM, which operate on rectified images, in practice limiting the field of view to around 130 ° diagonally. Not only does this allows to observe - and reconstruct - a larger portion of the surrounding environment, but it also makes the system more robust to degenerate (rotation-only) movement. The two main contribution are (1) the formulation of direct image alignment for the unified omnidirectional model, and (2) a fast yet accurate approach to incremental stereo directly on distorted images. We evaluated our framework on real-world sequences taken with a 185 ° fisheye lens, and compare it to a rectified and a piecewise rectified approach.},
 bibtype = {article},
 author = {Caruso, David and Engel, Jakob and Cremers, Daniel},
 doi = {10.1109/IROS.2015.7353366},
 journal = {IEEE International Conference on Intelligent Robots and Systems}
}

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