panorama-based-OpenVINS

panorama-based-OpenVINS is an visual-inertial system based on OpenVINS. We have adapted a panoramic camera model for OpenVINS.

Features

• Support for panoramic cameras. Such as RICOH THETA Z1.
• Dynamic noise model for camera observations

1. Installation

Refer to the installation guide of OpenVINS. Our code development on Ununtu 18.04.

2. Run with roslaunch

roslaunch ov_msckf subscribe.launch

To test on a personal dataset, see config in launch file.

3. Result

We walk around the Xinghu Building of Wuhan University and return to the original point. MSCKF Points and SLAM Points are colored with RBG.

4. Reference

OpenVINS,OpenVSLAM