Omnidirectional DSO: Direct Sparse Odometry With Fisheye Cameras
Omnidirectional DSO: Direct Sparse Odometry With Fisheye Cameras
We propose a novel real-time direct monocular visual odometry for omnidirectional cameras. Our method extends direct sparse odometry (DSO) by using the unified omnidirectional model as a projection function, which can be applied to fisheye cameras with a field-of-view (FoV) well above 180 degrees. This formulation allows for using the …