← Back to Benchmarks
simmediumroboticsmetric · varies
PanoAir: A Panoramic Visual-Inertial SLAM with Cross-Time Real-World UAV Dataset
Description
Accurate pose estimation is fundamental for unmanned aerial vehicle (UAV) applications, where Visual-Inertial SLAM (VI-SLAM) provides a cost-effective solution for localization and mapping. However, existing VI-SLAM methods mainly rely on sensors with limited fields of view (FoV), which can lead to drift and even failure in complex UAV scenarios. Although panoramic cameras provide omnidirectional perception to improve robustness, panoramic VI-SLAM and corresponding real-world datasets for UAVs r