Inertial Guided Uncertainty Estimation of Feature Correspondence in Visual-Inertial Odometry/SLAM.
Seongwook YoonJaehyun KimSanghoon SullPublished in: CoRR (2023)
Keyphrases
- inertial sensors
- extended kalman filter
- feature correspondences
- simultaneous localization and mapping
- motion estimates
- structure from motion
- sensor fusion
- mobile robot
- position and orientation
- kalman filter
- bundle adjustment
- angular velocity
- particle filter
- visual odometry
- coarse to fine
- indoor environments
- three dimensional
- multiple views
- missing data
- special case