Best Optics for Visual Odometry

In their latest work “Benefit of Large Field of View Cameras for Visual Odometry“, Davide Scaramuzza et al. analyse which optics is best for visual odometry. To confirm their theoretical observations, they extend the functionalities of their SVO algorithm to work with large FoV fisheye and catadioptric cameras and they evaluate it extensively in both synthetic and real experiments.

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