Next Article in Journal
A Survey of Autonomous Vehicles: Enabling Communication Technologies and Challenges
Previous Article in Journal
Night-Time Monitoring System (eNightLog) for Elderly Wandering Behavior
Previous Article in Special Issue
Generating Road Networks for Old Downtown Areas Based on Crowd-Sourced Vehicle Trajectories
Open AccessArticle

Panoramic Visual SLAM Technology for Spherical Images

by * and
School of Geodesy and Geomatics, Wuhan University, Wuhan 430079, China
*
Author to whom correspondence should be addressed.
Academic Editor: Kourosh Khoshelham
Sensors 2021, 21(3), 705; https://doi.org/10.3390/s21030705
Received: 14 December 2020 / Revised: 6 January 2021 / Accepted: 19 January 2021 / Published: 21 January 2021
(This article belongs to the Collection Positioning and Navigation)
Simultaneous Localization and Mapping (SLAM) technology is one of the best methods for fast 3D reconstruction and mapping. However, the accuracy of SLAM is not always high enough, which is currently the subject of much research interest. Panoramic vision can provide us with a wide range of angles of view, many feature points, and rich information. The panoramic multi-view cross-imaging feature can be used to realize instantaneous omnidirectional spatial information acquisition and improve the positioning accuracy of SLAM. In this study, we investigated panoramic visual SLAM positioning technology, including three core research points: (1) the spherical imaging model; (2) spherical image feature extraction and matching methods, including the Spherical Oriented FAST and Rotated BRIEF (SPHORB) and ternary scale-invariant feature transform (SIFT) algorithms; and (3) the panoramic visual SLAM algorithm. The experimental results show that the method of panoramic visual SLAM can improve the robustness and accuracy of a SLAM system. View Full-Text
Keywords: panoramic vision; SLAM; spherical imaging model; SPHORB; ternary SIFT panoramic vision; SLAM; spherical imaging model; SPHORB; ternary SIFT
Show Figures

Figure 1

MDPI and ACS Style

Zhang, Y.; Huang, F. Panoramic Visual SLAM Technology for Spherical Images. Sensors 2021, 21, 705. https://doi.org/10.3390/s21030705

AMA Style

Zhang Y, Huang F. Panoramic Visual SLAM Technology for Spherical Images. Sensors. 2021; 21(3):705. https://doi.org/10.3390/s21030705

Chicago/Turabian Style

Zhang, Yi; Huang, Fei. 2021. "Panoramic Visual SLAM Technology for Spherical Images" Sensors 21, no. 3: 705. https://doi.org/10.3390/s21030705

Find Other Styles
Note that from the first issue of 2016, MDPI journals use article numbers instead of page numbers. See further details here.

Article Access Map by Country/Region

1
Search more from Scilit
 
Search
Back to TopTop