Large scale visual SLAM with single fisheye camera

In this paper, an Extended Kalman Filter (EKF) - based visual SLAM algorithm using single fisheye lens camera to build a large scale sense is presented. The primary contribution of this work is the adaption of MonoSLAM from conventional perspective cameras and wide angle cameras to fisheye lens cameras in which the Polynomial Camera Model [10] is adopted to obtain 3D information. For data association, pSIFT [1] is implemented, which is designed dedicatedly for feature matching among fisheye images. In the experiment, we implement sub-mapping algorithm [5] and optimization jointly over all the frames with 3D feature position and camera poses estimated by MonoSLAM. The result confirms that our algorithm can work with fisheye camera well.