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}
}