초록

Multi-camera systems hold considerable promise for enhancing visual odometry by expanding the field of view, yet simply adding more cameras does not guarantee higher accuracy. Because increasing the number of cameras also raises the likelihood of degraded or misaligned views, appropriate handling is essential to prevent severe outliers and corrupted global pose estimates. Previous methods discard points in back-end optimization based on residuals, which has been a bottleneck for real-time performance since erroneous measurements are inevitably incorporated into the main pipeline before removal. In response, we propose a direct Multi-RGB-D Inertial Odometry framework driven by confidence-based weighting, which adaptively down-weights unreliable cameras based on photometric quality and viewpoint alignment. To manage the heavy data load typical of multi-camera setups, we also incorporate a motion-guided selection strategy, filtering out non-informative points before costly alignment. This early pruning reduces computation yet retains critical constraints for odometry. By combining these techniques, our system achieves robust, scale-consistent pose estimation in real time, even with four cameras, as validated through challenging indoor-outdoor experiments involving saturation, occlusions, low-light conditions, and severe glare.