Balancing the Budget: Feature Selection and Tracking for Multi-Camera Visual-Inertial Odometry. (arXiv:2109.05975v3 [cs.RO] UPDATED)

We present a multi-camera visual-inertial odometry system based on factor
graph optimization which estimates motion by using all cameras simultaneously
while retaining a fixed overall feature budget. We focus on motion tracking in
challenging environments, such as narrow corridors, dark spaces with aggressive
motions, and abrupt lighting changes. These scenarios cause traditional
monocular or stereo odometry to fail. While tracking motion with extra cameras
should theoretically prevent failures, it leads to additional complexity and
computational burden. To overcome these challenges, …

arxiv budget feature feature selection tracking