Rapid Initialization using Relative Pose Constraints in Stereo Visual-Inertial Odometry.
Jae-Hyung JungJae Young ChungJaehyuck ChaChan Gook ParkPublished in: ICCA (2019)
Keyphrases
- relative pose
- visual odometry
- inertial sensors
- closed form solutions
- long range
- autonomous navigation
- ego motion
- point correspondences
- computer vision
- structure from motion
- kalman filtering
- position information
- position and orientation
- simultaneous localization and mapping
- kalman filter
- stereo vision
- stereo images
- three dimensional
- object recognition
- d objects
- depth map
- constrained optimization
- image pairs
- stereo matching