An Application of Stereo Camera with Two Different FoVs for SLAM and Obstacle Detection

摘要

This paper presents an application of stereo camera with two different fields of view (FoVs) for both simultaneous localization and mapping (SLAM) and obstacle detection. Stereo camera usually comprises two cameras with the same FoV. However, for high performance SLAM, a camera with a wide FoV is advantageous, and for high performance obstacle detection, a camera with a narrow FoV is advantageous. This paper proposes SLAM and obstacle detection methods using a low-cost stereo camera with one wide FoV camera and one narrow FoV camera. The performance of the proposed method is demonstrated using various dataset-based experiments.