LF-VISLAM: A SLAM Framework for Large Field-of-View Cameras with Negative Imaging Plane on Mobile Agents [PDF], IEEE T-ASE
Ze Wang, Kailun Yang, Hao Shi, Peng Li, Fei Gao, Jian Bai, Kaiwei Wang.
The VIO system LF-VIO and LF-VIO Wiki is constantly being updated......
The Loop closure of LF-VISLAM will also be updated later.
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1、Build LF-VIO on ROS Clone the repository and catkin_make:
cd ~/catkin_ws/src git clone https://github.com/flysoaryun/LF-VISLAM.git cd ../ catkin_make source ~/catkin_ws/devel/setup.bash 2、Run
roslaunch vins_estimator mindvision.launch LF-VISLAM_grass.mp4
Green: LF-VIO
Blue: LF-VISLAM
Red: Groundtruth
ID01, ID06, ID10: Google Drive
ID01~ID10: Baidu Yun, Code: d7wq
IDL01~IDL02: Baidu Yun, Code: khw2
ID01~ID10: LF-VIO
IDL01~IDL02:
Pal_camera:
Fov: 360°x(40°~120°) Resolution ratio: 1280x720 Lens: Designed by Hangzhou HuanJun Technology. Sensor: mynteye module. Frequency: 30Hz Pal_camera:
model_type: scaramuzza camera_name: pal image_width: 1280 image_height: 720 poly_parameters: p0: -2.463825e+02 p1: 0.000000e+00 p2: 2.001880e-03 p3: -3.074460e-06 p4: 6.138370e-09 inv_poly_parameters: p0: 378.706255 p1: 248.013259 p2: 9.758682 p3: 14.691543 p4: 22.412646 p5: 8.404425 p6: -1.668530 p7: 3.279720 p8: 2.380985 p9: -0.599038 p10: 0.525474 p11: 1.018587 p12: 0.289189 p13: 0.0 p14: 0.0 p15: 0.0 p16: 0.0 p17: 0.0 p18: 0.0 p19: 0.0 affine_parameters: ac: 0.999993 ad: -0.000002 ae: 0.000025 cx: 605.933287 cy: 362.393961 IMU(mynteye module):
Frequency: 200Hz acc_n: 0.02 # accelerometer measurement noise standard deviation. gyr_n: 0.04 # gyroscope measurement noise standard deviation. acc_w: 0.04 # accelerometer bias random work noise standard deviation. gyr_w: 0.002 # gyroscope bias random work noise standard deviation. The extrinsic parameter between IMU and pal Camera
extrinsicRotation: !!opencv-matrix rows: 3 cols: 3 dt: d data: [-0.953122, 0.172069, 0.248899, 0.134667, 0.977837, -0.160311, -0.270968, -0.119278, -0.95517] extrinsicTranslation: !!opencv-matrix rows: 3 cols: 1 dt: d data: [-0.0324005, -0.00943501, 0.039072] If you find this work useful, please consider referencing the following paper:
LF-VISLAM: A SLAM Framework for Large Field-of-View Cameras With Negative Imaging Plane on Mobile Agents
Z. Wang, K. Yang, H. Shi, P. Li, F. Gao, J. Bai, K. Wang.
IEEE Transactions on Automation Science and Engineering (T-ASE).
@article{LF-VISLAM, title={LF-VISLAM: A SLAM Framework for Large Field-of-View Cameras With Negative Imaging Plane on Mobile Agents}, author={Wang, Ze and Yang, Kailun and Shi, Hao and Li, Peng and Gao, Fei and Bai, Jian and Wang, Kaiwei}, journal={IEEE Transactions on Automation Science and Engineering}, year={2023}, publisher={IEEE} } 
