MFVINS: Multiple Fisheye Camera-Based Visual Inertial System
A simultaneous localization and mapping (SLAM) method using a monocular camera and a low-cost inertial measurement unit (IMU) sensor is an effective way to fulfill a low-cost sensor configuration. Using this sensor configuration, visual-inertial system (VINS) focuses on fusing data from a camera and an IMU sensor to estimate the six degrees-of-freedom (DOF) of the sensor pose. Typically, VINS uses only a single camera as visual input, which lead to problems such as error accumulation due to occlusion, various illumination, and textureless environments. In this paper, we propose a new multiple fisheye camera-based visual-inertial system called MFVINS. We present an IMU-aided FAST feature t...
| Authors | Eunseong Jang, YuJin Chung, Sang Jun Lee et al. |
|---|---|
| Primary category | cs.RO |
| Published | 8 September 2026 |
| Last updated at source | 8 September 2026 |
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