Extrinsic Parameter Calibration and Dynamic Objects Coping Strategy for Multi-camera SLAM

Abstract

Perceiving the surrounding environment timely and accurately is very essential to improve the safety of mobile robots. To obtain rich information and increase the visual field of mobile robots, the development of multi-camera simultaneous localization and mapping (SLAM) system has become a hot research field. In the current research, multi-camera extrinsic parameter calibration and multi-camera dynamic SLAM are still challenging. Therefore, this paper proposes a dynamic environment-oriented multi-camera SLAM system. This system not only presents an accurate multi-camera extrinsic parameter calibration method but also can achieve accurate localization in the environment with dynamic objects. The effectiveness of the algorithm is verified through comprehensive experiments.