Monocular visual-inertial odometry leveraging point-line features with structural constraints.
Jiahui ZhangJinfu YangJiaqi MaPublished in: Vis. Comput. (2024)
Keyphrases
- mobile robot
- line features
- structural constraints
- indoor environments
- inertial sensors
- multiple views
- structural information
- image features
- pose estimation
- line correspondences
- camera motion
- image sequences
- pattern discovery
- point features
- optical flow
- camera pose
- point correspondences
- data analysis
- stereo camera
- position and orientation