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An Integrated INS/Lidar Odometry/Polarized Camera Pose Estimation via Factor Graph Optimization for Sparse Environment.
Tao Du
Shuyao Shi
Yunhao Zeng
Jian Yang
Lei Guo
Published in:
IEEE Trans. Instrum. Meas. (2022)
Keyphrases
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camera pose estimation
factor graphs
point cloud
belief propagation
message passing
graphical models
prior knowledge
high resolution
structure from motion
constrained optimization