A*SLAM: A Dual Fisheye Stereo Edge SLAM
Authors: Guoxuan Zhang
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.
Explore the paper tree
Click on the tree nodes to be redirected to a given paper and access their summaries and virtual assistant
Look for similar papers (in beta version)
By clicking on the button above, our algorithm compares the title and abstract of this paper with all the papers of the same arXiv category that we have summarized, and finds the closest ones. You can rerun it from time to time: the results improve as our database grows.