Rongwei Guo

BAMF-SLAM: Bundle Adjusted Multi-Fisheye Visual-Inertial SLAM Using Recurrent Field Transforms

In this paper, we present BAMF-SLAM, a novel multi-fisheye visual-inertial SLAM system that utilizes Bundle Adjustment (BA) and recurrent field transforms (RFT) to achieve accurate and robust state estimation in challenging scenarios. First, our system directly operates on raw fisheye images, enabli…