# Panoramic Direct LiDAR-assisted Visual Odometry

arXiv: https://arxiv.org/abs/2409.09287 · HTML: https://mlsanity.com/paper/2409.09287/

## Key facts

- Cited by 1 papers in the map (data through 14 Oct 2026).
- First posted on arXiv 14 Sep 2024.

## Built on by (most cited first, 1 of 1)

- [Multi-LVI-SAM: A Robust LiDAR-Visual-Inertial Odometry for Multiple Fisheye Cameras](https://mlsanity.com/paper/2509.05740/) (2025)

## Abstract (arXiv)

Enhancing visual odometry by exploiting sparse depth measurements from LiDAR is a promising solution for improving tracking accuracy of an odometry. Most existing works utilize a monocular pinhole camera, yet could suffer from poor robustness due to less available information from limited field-of-view (FOV). This paper proposes a panoramic direct LiDAR-assisted visual odometry, which fully associates the 360-degree FOV LiDAR points with the 360-degree FOV panoramic image datas. 360-degree FOV panoramic images can provide more available information, which can compensate inaccurate pose estimation caused by insufficient texture or motion blur from a single view. In addition to constraints between a specific view at different times, constraints can also be built between different views at the same moment. Experimental results on public datasets demonstrate the benefit of large FOV of our panoramic direct LiDAR-assisted visual odometry to state-of-the-art approaches.