Robust Initialization for Stereo Visual-Inertial SLAM with Polar-Based Gravity Estimation.

Yifan Liu Yuan Rao Guanqi Qi Hao Fan Junyu Dong

Published in: ICDIS (2022)

Keyphrases

robust estimation
computer vision
mobile robot
visual features
three dimensional
orientation estimation
real time
estimation error
stereo camera
early vision
disparity map
multi camera
simultaneous localization and mapping
object and scene recognition