Adding more cameras to SLAM systems improves robustness and accuracy but complicates the design of the visual front-end significantly. Thus, most systems in the literature are tailored for specific camera configurations. In this work, we aim at an adaptive SLAM system that works for arbitrary multi-camera setups. To this end, we revisit several common building blocks in visual SLAM. In particular, we propose an adaptive initialization scheme, a sensor-agnostic, information-theoretic keyframe selection algorithm, and a scalable voxel-based map. These techniques make little assumption about the actual camera setups and prefer theoretically grounded methods over heuristics. We adapt a state-of-the-art visual-inertial odometry with these modifications, and experimental results show that the modified pipeline can adapt to a wide range of camera setups (e.g., 2 to 6 cameras in one experiment) without the need of sensor-specific modifications or tuning.

Reference:
Juichung Kuo, Manasi Muglikar, Zichao Zhang, Davide Scaramuzza
Redesigning SLAM for Arbitrary Multi-Camera Systems
IEEE International Conference on Robotics and Automation (ICRA), Paris, 2020
PDF: http://rpg.ifi.uzh.ch/docs/ICRA20_Kuo.pdf

Our research on visual(-inertial) odometry and SLAM: http://rpg.ifi.uzh.ch/research_vo.html
More about our research: http://rpg.ifi.uzh.ch/publications.html

Affiliations: The authors are with the Robotics and Perception Group, Dep. of informatics, University of Zurich, and Dep. of Neuroinformatics, University of Zurich and ETH Zurich, Switzerland
http://rpg.ifi.uzh.ch/

Individuals and teams take on three more tests in Day 3 of the 2022 NOBULL CrossFit Games.

Enjoy coverage of the competition.

How to watch the 2022 NOBULL CrossFit Games → https://games.crossfit.com/article/how-watch-2022-nobull-crossfit-games/games

The CrossFit Games — (http://games.crossfit.com)

The CrossFit Games® – The Sport of Fitness™
The Fittest On Earth™
#crossfitgames

Chapters
00:00:00-00:02:51 Intro
00:02:51-01:10:59 Individual Women/Men: Event 5 – Heat 1
01:10:59-02:09:17 Individual Women/Men: Event 5 – Heat 2
02:09:17-02:25:02 Team Event 5 Intro
02:25:02-02:45:01 Team: Event 5 – Heat 1
02:25:02-03:05:32 Team: Event 5 – Heat 2
03:05:32-03:25:16 Team: Event 5 – Heat 3
03:25:16-03:47:17 Team: Event 5 – Heat 4
03:47:17-04:14:44 Intermission
04:14:44-04:36:26 Individual Men: Event 6 – Heat 1
04:26:26-04:58:34 Individual Men: Event 6 – Heat 2
04:58:34-05:26:28 Individual Women: Event 6 – Heat 1
05:26:28-05:50:13 Individual Women: Event 6 – Heat 2
06:39:02- 07:01:14 Team: Event 6 – Heat 1
07:01:14-07:22:10 Team: Event 6 – Heat 2
07:22:10-07:42:52 Team: Event 6 – Heat 3
07:42:52-08:05:04 Team: Event 6 – Heat 4
08:05:04-08:06:36 Event 8 Announcement – Rinse ‘N’ Repeat
08:06:36-08:19:03 Intermission
08:19:03-08:34:33 Individual Men: Event 7 – Heat 1
08:34:33-08:48:38 Individual Men: Event 7 – Heat 2
08:48:38- 09:01:19 Individual Men: Event 7 – Heat 3
09:01:19-09:17:42 Individual Men: Event 7 – Heat 4
09:17:42-09:34:31 Individual Women: Event 7 – Heat 1
09:34:31-09:50:38 Individual Women: Event 7 – Heat 2
09:50:38-10:06:43 Individual Women: Event 7 – Heat 3
10:06:43-10:25:24 Individual Women: Event 7 – Heat 4
10:25:24-10:52:56 Outro

Matt Miller and Kailey Leinz have the economy and the markets “under surveillance” as they cover the latest in finance, economics and investment, and talk with the leading voices shaping the conversation around world markets. This show is simulcast worldwide on Bloomberg Television
and Radio.
——–
Follow Bloomberg for business news & analysis, up-to-the-minute market data, features, profiles and more: http://www.bloomberg.com
Connect with us on…
Twitter: https://twitter.com/business
Facebook: https://www.facebook.com/bloombergbusiness
Instagram: https://www.instagram.com/bloombergbusiness/

Lisa Abramowicz, Matt Miller, and Kailey Leinz have the economy and the markets “under surveillance” as they cover the latest in finance, economics and investment, and talk with the leading voices shaping the conversation around world markets. This show is simulcast worldwide on Bloomberg Television and Radio.
——–
Follow Bloomberg for business news & analysis, up-to-the-minute market data, features, profiles and more: http://www.bloomberg.com
Connect with us on…
Twitter: https://twitter.com/business
Facebook: https://www.facebook.com/bloombergbusiness
Instagram: https://www.instagram.com/bloombergbusiness/
——–
Follow Bloomberg for business news & analysis, up-to-the-minute market data, features, profiles and more: http://www.bloomberg.com
Connect with us on…
Twitter: https://twitter.com/business
Facebook: https://www.facebook.com/bloombergbusiness
Instagram: https://www.instagram.com/bloombergbusiness/