LF-VIO: A Visual-Inertial-Odometry Framework for Large Field-of-View Cameras with Negative Plane. (arXiv:2202.12613v1 [cs.CV])

Visual-inertial-odometry has attracted extensive attention in the field of
autonomous driving and robotics. The size of Field of View (FoV) plays an
important role in Visual-Odometry (VO) and Visual-Inertial-Odometry (VIO), as a
large FoV enables to perceive a wide range of surrounding scene elements and
features. However, when the field of the camera reaches the negative half
plane, one cannot simply use [u,v,1]^T to represent the image feature points
anymore. To tackle this issue, we propose LF-VIO, a real-time VIO …

arxiv cameras cv framework lf negative