A Visual SLAM System Based on the Panoramic Camera

摘要

Due to the limited field of view of the pinhole camera, there is a lack of stability and accuracy in camera pose estimation applications such as visual SLAM. In order to solve this problem, a visual SLAM algorithm based on a panoramic camera is proposed to realize high-precision camera pose estimation and 3D sparse feature map construction. The indoor and outdoor experiments show that the proposed visual SLAM system is superior to that based on pinhole camera in both stability and precision, and it provides and effective solution for the localization and navigation of the mobile robots.