# Multicam-SLAM: Non-overlapping Multi-camera SLAM for Indirect Visual Localization and Navigation

arXiv: https://arxiv.org/abs/2406.06374 · HTML: https://mlsanity.com/paper/2406.06374/

## Key facts

- Cited by 2 papers in the map (data through 14 Oct 2026).
- Builds on 11 of its 37 references that are in the map.
- First posted on arXiv 10 Jun 2024.

## Builds on (most cited first, 11 of 11)

- [ORB-SLAM: a Versatile and Accurate Monocular SLAM System](https://mlsanity.com/paper/1502.00956/) (2015)
- [ORB-SLAM3: An Accurate Open-Source Library for Visual, Visual-Inertial and Multi-Map SLAM](https://mlsanity.com/paper/2007.11898/) (2020)
- [ORB-SLAM2: an Open-Source SLAM System for Monocular, Stereo and RGB-D Cameras](https://mlsanity.com/paper/1610.06475/) (2016)
- [3D Visual Perception for Self-Driving Cars using a Multi-Camera System: Calibration, Mapping, Localization, and Obstacle Detection](https://mlsanity.com/paper/1708.09839/) (2017)
- [Visual-Inertial Monocular SLAM with Map Reuse](https://mlsanity.com/paper/1610.05949/) (2016)
- [Credit Card Fraud Detection Using Advanced Transformer Model](https://mlsanity.com/paper/2406.03733/) (2024)
- [Harnessing XGBoost for Robust Biomarker Selection of Obsessive-Compulsive Disorder (OCD) from Adolescent Brain Cognitive Development (ABCD) data](https://mlsanity.com/paper/2407.00028/) (2024)
- [Recurrent Neural Network from Adder's Perspective: Carry-lookahead RNN](https://mlsanity.com/paper/2106.12901/) (2021)
- [MultiCol-SLAM - A Modular Real-Time Multi-Camera SLAM System](https://mlsanity.com/paper/1610.07336/) (2016)
- [Infrared Image Super-Resolution via Lightweight Information Split Network](https://mlsanity.com/paper/2405.10561/) (2024)
- [A Novel Method for Extrinsic Calibration of Multiple RGB-D Cameras Using Descriptor-Based Patterns](https://mlsanity.com/paper/1807.07856/) (2018)

## Built on by (most cited first, 2 of 2)

- [Advanced User Credit Risk Prediction Model using LightGBM, XGBoost and Tabnet with SMOTEENN](https://mlsanity.com/paper/2408.03497/) (2024)
- [Map-Free Visual Relocalization Enhanced by Instance Knowledge and Depth Knowledge](https://mlsanity.com/paper/2408.13085/) (2024)

## Abstract (arXiv)

This paper presents a novel approach to visual simultaneous localization and mapping (SLAM) using multiple RGB-D cameras. The proposed method, Multicam-SLAM, significantly enhances the robustness and accuracy of SLAM systems by capturing more comprehensive spatial information from various perspectives. This method enables the accurate determination of pose relationships among multiple cameras without the need for overlapping fields of view. The proposed Muticam-SLAM includes a unique multi-camera model, a multi-keyframes structure, and several parallel SLAM threads. The multi-camera model allows for the integration of data from multiple cameras, while the multi-keyframes and parallel SLAM threads ensure efficient and accurate pose estimation and mapping. Extensive experiments in various environments demonstrate the superior accuracy and robustness of the proposed method compared to conventional single-camera SLAM systems. The results highlight the potential of the proposed Multicam-SLAM for more complex and challenging applications. Code is available at urlhttps://github.com/AlterPang/MultiORBSLAM.