Spherically Optimized RANSAC Aided by an IMU for Fisheye Image Matching

Fisheye cameras are widely used in visual localization due to the advantage of the wide field of view. However, the severe distortion in fisheye images lead to feature matching difficulties. This paper proposes an IMU-assisted fisheye image matching method called spherically optimized random sample consensus (So-RANSAC). We converted the putative correspondences into fisheye spherical coordinates and then used an inertial measurement unit (IMU) to provide relative rotation angles to assist fisheye image epipolar constraints and improve the accuracy of pose estimation and mismatch removal. To verify the performance of So-RANSAC, experiments were performed on fisheye images of urban drainage pipes and public data sets. The experimental results showed that So-RANSAC can effectively improve the mismatch removal accuracy, and its performance was superior to the commonly used fisheye image matching methods in various experimental scenarios.

Automated summary

This study introduces an IMU-assisted fisheye image matching method called So-RANSAC, which improves mismatch removal accuracy by converting putative correspondences into fisheye spherical coordinates and utilizing IMU to provide relative rotation angles. Experimental results demonstrate that So-RANSAC outperforms commonly used fisheye image matching methods in various experimental scenarios.