Rapid and Robust Monocular Visual-Inertial Initialization with Gravity Estimation via Vertical Edges.

Jinyu Li Hujun Bao Guofeng Zhang

Published in: IROS (2019)

Keyphrases

egomotion estimation
robust estimation
image sequences
robust regression
visual features
computationally efficient
visual information
partial occlusion
computer vision
kalman filter
pose estimation
dynamic model
low level
robust statistical
object recognition
vertical lines
three dimensional