Semi-direct EKF-based monocular visual-inertial odometry.
Petri TanskanenTobias NaegeliMarc PollefeysOtmar HilligesPublished in: IROS (2015)
Keyphrases
- inertial sensors
- visual odometry
- extended kalman filter
- kalman filter
- sensor fusion
- visual sensor
- simultaneous localization and mapping
- kalman filtering
- computer simulation
- image sequences
- visual information
- position and orientation
- real time
- low level
- pose estimation
- state estimation
- dynamic model
- long range
- visual features
- motion tracking
- autonomous navigation
- high level
- motion sequences
- visual cues
- ego motion
- visual data
- three dimensional