Portable multi-camera system composed of four Pointgrey Firefly MV cameras. Horizontal FOV: 360 deg. Vertical FOV: 90 deg.
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Place graph built online during exploration. The arrows show the guidance provided to the user in a replay scenario.
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Rotation guidance is provided in the user's body frame (red arrow) all along the exploration path. The method relies on matching points of interests (e.g. SIFT, shown in yellow) upon revisit of a location.
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