Asynchronous Multi-View SLAM
Anqi Joyce Yang Can Cui Ioan Andrei Bârsan Raquel Urtasun Shenlong Wang Anqi Joyce Yang Can Cui Ioan Andrei Bârsan Raquel Urtasun Shenlong Wang
Existing multi-camera SLAM systems assume synchronized shutters for all cameras, which is often not the case in practice. In this work, we propose a generalized multi-camera SLAM formulation which accounts for asynchronous sensor observations. Our framework integrates a continuous-time motion model to relate information across asynchronous multi-frames during tracking, local mapping, and loop clos...