Panoramic Visual-Inertial SLAM Tightly Coupled with a Wheel Encoder

Authors: Fan Jiang, Jiagang Chen, Shunping Ji

Year: 2021

Notes:

No panoramic images and IMU SLAM fusion in the literature
VIO initialization with wheel encoder data
Panoramic camera model with multiple fisheye cameras
Build a wheel pre integration model
Use G2O factor graph framework for tight fusion
For info about visual module, read: Panoramic SLAM from a multiple fisheye camera rig

Papier sur la fusion de capteur et le modèle de roue, pas forcément intéressant mais beau travail!