Fig. 1. Catadioptric panoramic camera

Fig. 2. Catadioptric panoramic camera projection process

Fig. 3. Triangulation of binocular catadioptric panoramic camera

Fig. 4. Block diagram of dynamic SLAM algorithm for binocular panoramic camera

Fig. 5. Schematic diagram of inverse depth filtering algorithm

Fig. 6. RPE between pose estimation results and ground truth for different sequences

Fig. 7. Comparison of trajectories calculated by different methods with ground truth