Spherically Optimized RANSAC Aided by an IMU for Fisheye Image Matching

Fisheye cameras are widely used in visual localization due to the advantage of wide field view. However, severe distortion fisheye images lead feature matching difficulties. This paper proposes an IMU-assisted image method called spherically optimized random sample consensus (So-RANSAC). We converted putative correspondences into spherical coordinates and then inertial measurement unit (IMU) provide relative rotation angles assist epipolar constraints improve accuracy pose estimation mismatch removal. To verify performance So-RANSAC, experiments were performed on urban drainage pipes public data sets. The experimental results showed that So-RANSAC can effectively removal accuracy, its was superior commonly methods various scenarios.