A*SLAM: A Dual Fisheye Stereo Edge SLAM
Guoxuan Zhang

TL;DR
This paper introduces A*SLAM, a full-view fisheye stereo edge SLAM system that utilizes dual fisheye stereo cameras and edge features for robust, illumination-invariant localization and mapping.
Contribution
It presents a novel SLAM system combining dual fisheye stereo cameras with edge features, enabling full environmental coverage and improved robustness.
Findings
Full environmental view coverage with dual fisheye stereo cameras
Edge features provide illumination invariance for SLAM
Direct extraction of panorama depth images from fisheye pairs
Abstract
This paper proposes an A*SLAM system that features combining two sets of fisheye stereo cameras and taking the image edge as the SLAM features. The dual fisheye stereo camera sets cover the full environmental view of the SLAM system. From each fisheye stereo image pair, a panorama depth image can be directly extracted for initializing the SLAM feature. The edge feature is an illumination invariant feature. The paper presents a method of the edge-based simultaneous localization and mapping process using both the normal and inverted images interchangeably.
Peer Reviews
No public reviews on file for this paper yet. If you reviewed it on a platform where reviews are public (OpenReview, ICLR, NeurIPS, ICML), you can paste yours below so the community can read it here.
Videos
No videos yet. Explain this paper in a talk, walkthrough, or lecture? Add one.
Taxonomy
TopicsRobotics and Sensor-Based Localization · 3D Surveying and Cultural Heritage · Advanced Image and Video Retrieval Techniques
