Calibration and localization algorithms for a system of multiple rigidly coupled stereo cameras. All algorithms have been tested on DJI guidance sensor https://www.dji.com/it/guidance. See doc for experimental results.

Calibration algorithm for multi-stereo sensor:

• Extension of http://www-oldurls.inf.ethz.ch/personal/pomarc/pubs/LiIROS13a.pdf
• Based on affine invariant version of SURF

Localization based on sparse features reconstruction. Expression of a reconstruction in principal camera frame, localization wrt the reconstruction with three approaches:

• 3D-3D
• Decoupled 3D-2D: PnP over each camera and averaged mean of results
• Coupled 3D-2D: OpenGV (https://laurentkneip.github.io/opengv/) implementation of gPnP

Implementation of a simple VO pipeline (pose only optimization local bundle adjustment).