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Published at December 4

MCVO: A Generic Visual Odometry for Arbitrarily Arranged Multi-Cameras

cs.RO

Released Date: December 4, 2024

Authors: Huai Yu¹, Junhao Wang¹, Yao He², Wen Yang¹, Gui-Song Xia¹

Aff.: ¹Wuhan University; ²Stanford University

Arxiv: http://arxiv.org/pdf/2412.03146v1

Refer to caption

Method	KITTI360_00			KITTI360_03			KITTI360_05			KITTI360_10			MCdata_Lab1		MCdata_Ground1
	(1520m)			(1379m)			(1173m)			(3343m)			(152m)		(90m)
	Trans.	Rot.	Scal.	Trans.	Rot.	Scal.	Trans.	Rot.	Scal.	Trans.	Rot.	Scal.	Trans.	Trans.	Trans.	Trans.
VINS-Fusion	76.198	114.923	1.003	38.213	125.079	0.585	14.749	123.580	0.181	135.536	130.248	2.924	16.579	10.921%	14.80	16.469%
ORBSLAM3	22.673	117.981	0.390	12.269	115.832	0.306	8.134	114.361	0.164	44.317	114.268	1.484	2.90	1.91%	0.85	0.80%
MultiCamSLAM	15.68(245.2)	115.516	0.341	8.91(222.5)	114.082	0.184	11.28(91.9)	155.944	0.150	56.46(553.5)	136.175	1.561	14.83	9.75%	1.69	1.88%
MCVO(ORB)	44.054	8.634	0.518	64.861	4.803	1.367	49.143	5.353	0.591	102.050	6.139	2.833	11.50	7.561%	14.58	16.321%
MCVO(ours)	13.933	6.847	0.300	20.234	2.585	0.394	6.895	3.341	0.079	76.282	7.348	2.638	7.894	5.200%	1.54	1.711%