{"about":{"site":"https://codewithpapers.app","non_affiliation":"Code with Papers and Syntology are not affiliated with, endorsed by, or sponsored by Papers with Code, Meta, or the pwc-archive mirror.","licence":"CC BY-SA 4.0","licence_url":"https://creativecommons.org/licenses/by-sa/4.0/legalcode","attribution":"https://codewithpapers.app/attribution","modified":"archive material modified by Syntology; see the attribution page"},"url":"/paper/multicol-slam-a-modular-real-time-multi","title":"MultiCol-SLAM - A Modular Real-Time Multi-Camera SLAM System","arxiv_id":"1610.07336","date":"2016-10-24","proceeding":null,"authors":["Steffen Urban","Stefan Hinz"],"abstract":"The basis for most vision based applications like robotics, self-driving cars\nand potentially augmented and virtual reality is a robust, continuous\nestimation of the position and orientation of a camera system w.r.t the\nobserved environment (scene). In recent years many vision based systems that\nperform simultaneous localization and mapping (SLAM) have been presented and\nreleased as open source. In this paper, we extend and improve upon a\nstate-of-the-art SLAM to make it applicable to arbitrary, rigidly coupled\nmulti-camera systems (MCS) using the MultiCol model. In addition, we include a\nperformance evaluation on accurate ground truth and compare the robustness of\nthe proposed method to a single camera version of the SLAM system. An open\nsource implementation of the proposed multi-fisheye camera SLAM system can be\nfound on-line https://github.com/urbste/MultiCol-SLAM.","url_abs":"http://arxiv.org/abs/1610.07336v1","url_pdf":"http://arxiv.org/pdf/1610.07336v1.pdf","source":{"archive":"pwc-archive (Hugging Face), CC BY-SA 4.0","snapshot":"2025-07-28","licence_url":"https://creativecommons.org/licenses/by-sa/4.0/legalcode","row_kind":"abstracts"},"code_links":[{"paper_slug":"multicol-slam-a-modular-real-time-multi","repo_url":"https://github.com/urbste/MultiCol-SLAM","is_official":1,"mentioned_in_paper":1,"mentioned_in_github":1,"framework":"none","reach":null},{"paper_slug":"multicol-slam-a-modular-real-time-multi","repo_url":"https://github.com/ns15417/multicol-slam2","is_official":0,"mentioned_in_paper":0,"mentioned_in_github":1,"framework":"none","reach":null}],"tasks":[{"task_slug":null,"task_name":"Position"},{"task_slug":"self-driving-cars","task_name":"Self-Driving Cars"},{"task_slug":"simultaneous-localization-and-mapping","task_name":"Simultaneous Localization and Mapping"}],"methods":[],"datasets_introduced":[],"methods_introduced":[],"results":[],"syntology":{"atlas_url":null,"mcp":null,"developers":"https://syntology.ai/developers"},"arxiv_metadata":null,"syntology_extracted_results":null}