Abstract
Recently, multi monocular cameras have been widely installed on robots and vehicles. Multi monocular cameras (MMO) can effectively solve the disadvantage of small field of view in a single camera. This paper presents MMO-SLAM: a versatile and accurate multi monocular simultaneous localization and mapping system, which can calibrate and optimize extrinsic calibration between cameras online in real time based on wheel odometer. The proposed method jointly optimized reprojection errors of image features projected from multi monocular cameras, and meanwhile, it significantly reduces errors in cameras’ extrinsic calibration. Experimental results validate the efficiency and accuracy of MMO-SLAM.
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All authors contributed to the study conception and design. Material preparation, data collection and analysis we re performed by kaixiang Zou, and Zaifang Zhang. The first draft of the manuscript was written by Kaixiang Zou and all authors commented on previous versions of the manuscript. All authors read and approved the final manuscript.
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Zhang, Z., Zou, K. MMO-SLAM: A Versatile and Accurate Multi Monocular SLAM System. J Intell Robot Syst 105, 58 (2022). https://doi.org/10.1007/s10846-022-01667-4
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DOI: https://doi.org/10.1007/s10846-022-01667-4