# PanoAir: A Panoramic Visual-Inertial SLAM Framework for UAVs with a Cross-Time Real-World Dataset

- Source: arXiv cs.RO
- Published: 2026-10-19T04:00:00.000Z
- RoboHot: https://robohot.news/en/items/loca3pnicnx6a0n19pj2yr4cp
- Original: https://arxiv.org/abs/2604.00852

## Summary

PanoAir proposes a panoramic visual-inertial SLAM (VI-SLAM) framework and builds a real-world panoramic dataset covering different illumination, altitudes, trajectory lengths, and motion dynamics. The method uses panoramic feature extraction and panoramic loop closure to strengthen feature constraints and global consistency. On its own dataset and public benchmarks, it completed all 17 sequences without tracking failure and reduced ATE by up to 47.1% compared with the best baseline. Deployment on an embedded platform verified computational efficiency comparable to the PC implementation. The source code and dataset are publicly available.