Yu ZHANG, Xiping XU, Ning ZHANG, Yaowen LÜ, Yi LU. Research on Visual Odometry Based on Catadioptric Panoramic Camera[J]. Acta Photonica Sinica, 2021, 50(4): 182
- Acta Photonica Sinica
- Vol. 50, Issue 4, 182 (2021)
Fig. 1. Structure of catadioptric panoramic camera
Fig. 2. Algorithm flow
Fig. 3. Projection model of catadioptric panoramic camera
Fig. 4. Flow chart of monocular initialization for catadioptric panoramic camera
Fig. 5. Catadioptric panoramic camera spherical epipolar geometry
Fig. 6. Panoramic image feature point extration
Fig. 7. Mask the image and extract feature points
Fig. 8. Sparse point cloud and key frame trajectory graph
Fig. 9. Comparison of calculated trajectory and real trajectory under each sequence of Multi-FoV data set
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Table 1. Pose trajectory error statistics
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Table 2. Tracking result statistics
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