Visual SLAM with an Omnidirectional Camera

—In this work we integrate the Spherical Camera Model for catadioptric systems in a Visual-SLAM application. The Spherical Camera Model is a projection model that unifies central catadioptric and conventional cameras. To integrate this model into the Extended Kalman Filter-based SLAM we require to linearize the direct and the inverse projection. We have performed an initial experimentation with omnidirectional and conventional real sequences including challenging trajectories. The results confirm that the omnidirectional camera gives much better orientation accuracy improving the estimated camera trajectory. Keywords-Computer vision systems and applications; Vision sensors.

• Type: Conference
• Year: 2010
• Where: ICPR
• Authors: Alejandro Rituerto, Luis Puig, Jose J. Guerrero
• Keywords: Computer Vision, ICPR 2010, Omnidirectional Camera, Projection Model, Spherical Camera Model