COMPARISON OF TWO MATHEMATICAL MODELS FOR FISHEYE CAMERAS APPLIED IN THE ORB-SLAM

Abstract. Fisheye lens cameras are becoming increasingly popular for vSLAM applications due to their wide field of view (FoV), providing more features to be tracked in a single image shot. However, the complex lens geometry involved in the image formation process still limits their full potential, especially when points in the hyperhemispherical field are unmodeled. In this paper, we compare two adaptations of ORB-SLAM for fisheye lens cameras, considering the use of the rigorous projection model (equisolid-angle) versus the use of the generic projection model (EUCM). The ORB-SLAM versions were adapted for real-time processing on the Nvidia Jetson TX2 board. The experiment was conducted using hyperhemispherical images obtained with a Ricoh Theta S camera. Our results showed that the trajectory estimated with the equisolid-angle ORB-SLAM had smaller discrepancies, compared to the reference trajectory, than the EUCM ORB-SLAM. This suggests that a rigorous photogrammetric model with a suitable treatment of hyperhemispherical points is beneficial for trajectory estimation.