Asynchronous Multi-View SLAM [article]

Anqi Joyce Yang, Can Cui, Ioan Andrei Bârsan, Raquel Urtasun, Shenlong Wang
2021 arXiv   pre-print
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 closing. For evaluation, we collected AMV-Bench, a challenging new SLAM dataset covering 482 km of
more » ... ng recorded using our asynchronous multi-camera robotic platform. AMV-Bench is over an order of magnitude larger than previous multi-view HD outdoor SLAM datasets, and covers diverse and challenging motions and environments. Our experiments emphasize the necessity of asynchronous sensor modeling, and show that the use of multiple cameras is critical towards robust and accurate SLAM in challenging outdoor scenes. For additional information, please see the project website at: https://www.cs.toronto.edu/~ajyang/amv-slam
arXiv:2101.06562v3 fatcat:3knyn27dyfhctkjppqyhpgpc2i