Attitude-Guided Loop Closure for Cameras with Negative Plane. (arXiv:2209.05167v1 [cs.CV])

Loop closure is an important component of Simultaneous Localization and
Mapping (SLAM) systems. Large Field-of-View (FoV) cameras have received
extensive attention in the SLAM field as they can exploit more surrounding
features on the panoramic image. In large-FoV VIO, for incorporating the
informative cues located on the negative plane of the panoramic lens, image
features are represented by a three-dimensional vector with a unit length.
While the panoramic FoV is seemingly advantageous for loop closure, the
benefits cannot easily be …

arxiv attitude cameras loop negative