Yihao Yu

Omnidirectional Dense SLAM for Back-to-back Fisheye Cameras

We propose a real-time visual-inertial dense SLAM system that utilizes the online data streams from back-to-back dual fisheye cameras setup, providing 360◦ coverage of the environment. Firstly, we employ a sliding-window-based front-end to estimate real-time poses from the binocular fisheye images a…