Benefit of Large Field-of-View Cameras for Visual Odometry


The transition of visual-odometry technology from research demonstrators to commercial applications naturally raises the question: "what is the optimal camera for vision-based motion estimation?" This question is crucial as the choice of camera has a tremendous impact on the robustness and accuracy of the employed visual odometry algorithm. While many properties of a camera (e.g. resolution, frame-rate, global-shutter/rolling-shutter) could be considered, in this work we focus on evaluating the impact of the camera field-of-view (FoV) and optics (i.e., fisheye or catadioptric) on the quality of the motion estimate. Since the motion-estimation performance depends highly on the geometry of the scene and the motion of the camera, we analyze two common operational environments in mobile robotics: an urban environment and an indoor scene.

In International Conference on Robotics and Automation (ICRA), IEEE.