MultiCol-SLAM - A Modular Real-Time Multi-Camera SLAM System

Steffen Urban, Stefan Hinz
10/24/2016
cs.CV

Official code: urbste/MultiCol-SLAM (703 stars, last commit 2020-08-05).

Abstract

The basis for most vision based applications like robotics, self-driving cars and potentially augmented and virtual reality is a robust, continuous estimation of the position and orientation of a camera system w.r.t the observed environment (scene). In recent years many vision based systems that perform simultaneous localization and mapping (SLAM) have been presented and released as open source. In this paper, we extend and improve upon a state-of-the-art SLAM to make it applicable to arbitrary, rigidly coupled multi-camera systems (MCS) using the MultiCol model. In addition, we include a performance evaluation on accurate ground truth and compare the robustness of the proposed method to a single camera version of the SLAM system. An open source implementation of the proposed multi-fisheye camera SLAM system can be found on-line https://github.com/urbste/MultiCol-SLAM.

View on arXivView PDF

Code Implementations(1)

urbste/MultiCol-SLAMOfficial100%

This repository contains a multi-fisheye camera SLAM. The underlying SLAM system is based on ORB-SLAM.

703229C++, CMakeAug 23, 20166 years ago

Similar Papers

Multicam-SLAM: Non-overlapping Multi-camera SLAM for Indirect Visual Localization and Navigation

86% match1 repo472024

MFVINS: Multiple Fisheye Camera-Based Visual Inertial System

84% match2026

3D Ground Truth Reconstruction from Multi-Camera Annotations Using UKF

81% match2025

External Camera-based Mobile Robot Pose Estimation for Collaborative Perception with Smart Edge Sensors

80% match2023

Global Localization: Utilizing Relative Spatio-Temporal Geometric Constraints from Adjacent and Distant Cameras

80% match2023

SplaTAM: Splat, Track & Map 3D Gaussians for Dense RGB-D SLAM

80% match1 repo2.2k2023

Cite this paper

@article{urban2016multicolslam,
  title  = {MultiCol-SLAM - A Modular Real-Time Multi-Camera SLAM System},
  author = {Steffen Urban and Stefan Hinz},
  year   = {2016},
  eprint = {1610.07336},
  archivePrefix = {arXiv},
  url    = {https://arxiv.org/abs/1610.07336}
}

Add a badge to your README

Shows whether official code is linked for this paper.

Code of Paper badge
[![Code of Paper](https://codeofpaper.com/badge/1610.07336.svg)](https://codeofpaper.com/paper/1610.07336)

Discussion