Multicam-SLAM: Non-overlapping Multi-camera SLAM for Indirect Visual Localization and Navigation
It addresses the need for more reliable visual localization and navigation in complex environments, representing an incremental improvement over existing SLAM methods.
This paper tackles the problem of visual SLAM by introducing a multi-camera system that captures spatial information from various perspectives without requiring overlapping fields of view, resulting in enhanced robustness and accuracy compared to conventional single-camera SLAM systems.
This paper presents a novel approach to visual simultaneous localization and mapping (SLAM) using multiple RGB-D cameras. The proposed method, Multicam-SLAM, significantly enhances the robustness and accuracy of SLAM systems by capturing more comprehensive spatial information from various perspectives. This method enables the accurate determination of pose relationships among multiple cameras without the need for overlapping fields of view. The proposed Muticam-SLAM includes a unique multi-camera model, a multi-keyframes structure, and several parallel SLAM threads. The multi-camera model allows for the integration of data from multiple cameras, while the multi-keyframes and parallel SLAM threads ensure efficient and accurate pose estimation and mapping. Extensive experiments in various environments demonstrate the superior accuracy and robustness of the proposed method compared to conventional single-camera SLAM systems. The results highlight the potential of the proposed Multicam-SLAM for more complex and challenging applications. Code is available at \url{https://github.com/AlterPang/Multi_ORB_SLAM}.