A*SLAM: A Dual Fisheye Stereo Edge SLAM

Guoxuan Zhang

A*SLAM: A Dual Fisheye Stereo Edge SLAM

Robotics 2019-11-12 v1 Computational Geometry

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.

Keywords

simultaneous localization and mapping fisheye stereo camera edge feature panorama depth image illumination invariant dual camera

Cite

@article{arxiv.1911.04063,
  title  = {A*SLAM: A Dual Fisheye Stereo Edge SLAM},
  author = {Guoxuan Zhang},
  journal= {arXiv preprint arXiv:1911.04063},
  year   = {2019}
}

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