Monocular Visual-Inertial State Estimation With Online Initialization and Camera-IMU Extrinsic Calibration.
Zhenfei YangShaojie ShenPublished in: IEEE Trans Autom. Sci. Eng. (2017)
Keyphrases
- inertial sensors
- state estimation
- extended kalman filter
- inertial measurement unit
- kalman filter
- visual odometry
- kalman filtering
- position and orientation
- camera calibration
- sensor fusion
- particle filter
- particle filtering
- calibration method
- dynamic systems
- pose estimation
- markerless
- visual tracking
- camera parameters
- motion sequences
- stereo camera
- motion tracking
- focal length
- relative pose
- optical flow
- motion estimates
- visual information
- closed form
- video sequences
- multi sensor