Monocular Visual-Inertial Odometry with an Unbiased Linear System Model and Robust Feature Tracking Front-End

Monocular Visual-Inertial Odometry with an Unbiased Linear System Model and Robust Feature Tracking Front-End

The research field of visual-inertial odometry has entered a mature stage in recent years. However, unneglectable problems still exist. Tradeoffs have to be made between high accuracy and low computation for users. In addition, notation confusion exists in quaternion descriptions of rotation; althou...

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Bibliographic Details
Main Authors: Xiaochen Qiu, Hai Zhang, Wenxing Fu, Chenxu Zhao, Yanqiong Jin
Format: Article
Language:English
Published: MDPI AG 2019-04-01
Series:Sensors
Subjects:
visual inertial odometry
quaternion notation
closed-form state transition equation
robust feature tracking
real-time motion tracking
computation saving
Online Access:https://www.mdpi.com/1424-8220/19/8/1941

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