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Towards Robust Visual Odometry with a Multi-Camera System
(2018)2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)We present a visual odometry (VO) algorithm for a multi-camera system and robust operation in challenging environments. Our algorithm consists of a pose tracker and a local mapper. The tracker estimates the current pose by minimizing photometric errors between the most recent keyframe and the current frame. The mapper initializes the depths of all sampled feature points using plane-sweeping stereo. To reduce pose drift, a sliding window ...Conference Paper