ROVO: Robust Omnidirectional Visual Odometry for Wide-baseline Wide-FOV Camera Systems

28 Feb 2019Hochang SeokJongwoo Lim

In this paper we propose a robust visual odometry system for a wide-baseline camera rig with wide field-of-view (FOV) fisheye lenses, which provides full omnidirectional stereo observations of the environment. For more robust and accurate ego-motion estimation we adds three components to the standard VO pipeline, 1) the hybrid projection model for improved feature matching, 2) multi-view P3P RANSAC algorithm for pose estimation, and 3) online update of rig extrinsic parameters... (read more)

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