# Omnidirectional DSO: Direct Sparse Odometry with Fisheye Cameras

arXiv: https://arxiv.org/abs/1808.02775 · HTML: https://mlsanity.com/paper/1808.02775/

## Key facts

- Cited by 17 papers in the map (data through 14 Oct 2026).
- First posted on arXiv 8 Aug 2018.

## Built on by (most cited first, 17 of 17)

- [DROID-SLAM: Deep Visual SLAM for Monocular, Stereo, and RGB-D Cameras](https://mlsanity.com/paper/2108.10869/) (2021)
- [Review on Panoramic Imaging and Its Applications in Scene Understanding](https://mlsanity.com/paper/2205.05570/) (2022)
- [A Survey of Representation Learning, Optimization Strategies, and Applications for Omnidirectional Vision](https://mlsanity.com/paper/2502.10444/) (2025)
- [LF-VIO: A Visual-Inertial-Odometry Framework for Large Field-of-View Cameras with Negative Plane](https://mlsanity.com/paper/2202.12613/) (2022)
- [LF-VISLAM: A SLAM Framework for Large Field-of-View Cameras with Negative Imaging Plane on Mobile Agents](https://mlsanity.com/paper/2209.05167/) (2022)
- [Panoramic annular SLAM with loop closure and global optimization](https://mlsanity.com/paper/2102.13400/) (2021)
- [3D reconstruction from spherical images: A review of techniques, applications, and prospects](https://mlsanity.com/paper/2302.04495/) (2023)
- [Fisheye3R: Adapting Unified 3D Feed-Forward Foundation Models to Fisheye Lenses](https://mlsanity.com/paper/2603.28896/) (2026)
- [360ORB-SLAM: A Visual SLAM System for Panoramic Images with Depth Completion Network](https://mlsanity.com/paper/2401.10560/) (2024)
- [Rigidity Preserving Image Transformations and Equivariance in Perspective](https://mlsanity.com/paper/2201.13065/) (2022)
- [FisheyeDistill: Self-Supervised Monocular Depth Estimation with Ordinal Distillation for Fisheye Cameras](https://mlsanity.com/paper/2205.02930/) (2022)
- [HDPV-SLAM: Hybrid Depth-augmented Panoramic Visual SLAM for Mobile Mapping System with Tilted LiDAR and Panoramic Visual Camera](https://mlsanity.com/paper/2301.11823/) (2023)
- [360DVO: Deep Visual Odometry for Monocular 360-Degree Camera](https://mlsanity.com/paper/2601.02309/) (2026)
- [P2U-SLAM: A Monocular Wide-FoV SLAM System Based on Point Uncertainty and Pose Uncertainty](https://mlsanity.com/paper/2409.10143/) (2024)
- [RIGOR: Rig-Informed Geometry for Omnidirectional Reconstruction](https://mlsanity.com/paper/2609.13504/) (2026)
- [Fisheye-Calib-Adapter: An Easy Tool for Fisheye Camera Model Conversion](https://mlsanity.com/paper/2407.12405/) (2024)
- [LGU-SLAM: Learnable Gaussian Uncertainty Matching with Deformable Correlation Sampling for Deep Visual SLAM](https://mlsanity.com/paper/2410.23231/) (2024)

## Abstract (arXiv)

We propose a novel real-time direct monocular visual odometry for omnidirectional cameras. Our method extends direct sparse odometry (DSO) by using the unified omnidirectional model as a projection function, which can be applied to fisheye cameras with a field-of-view (FoV) well above 180 degrees. This formulation allows for using the full area of the input image even with strong distortion, while most existing visual odometry methods can only use a rectified and cropped part of it. Model parameters within an active keyframe window are jointly optimized, including the intrinsic/extrinsic camera parameters, 3D position of points, and affine brightness parameters. Thanks to the wide FoV, image overlap between frames becomes bigger and points are more spatially distributed. Our results demonstrate that our method provides increased accuracy and robustness over state-of-the-art visual odometry algorithms.