Optimization-Based, Simplified Stereo Visual-Inertial Odometry With High-Accuracy Initialization

Optimization-Based, Simplified Stereo Visual-Inertial Odometry With High-Accuracy Initialization

This paper proposes a robust and highly efficient feature-based visual-inertial odometry (VIO) approach. In order to save the computational resource, a simplified stereo visual model is applied to reduce the dimension of visual measurements. Moreover, the speed of feature matching is improved by usi...

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Bibliographic Details
Main Authors: Guang Yang, Long Zhao, Jianing Mao, Xiao Liu
Format: Article
Language:English
Published: IEEE 2019-01-01
Series:IEEE Access
Subjects:
Simplified stereo visual model
visual-inertial odometry
nonlinear-optimization
initialization
sensor fusion
simultaneous localization and mapping
Online Access:https://ieeexplore.ieee.org/document/8657357/

Internet

https://ieeexplore.ieee.org/document/8657357/

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