Iterated extended Kalman filter based visual-inertial odometry using direct photometric feedback.
Michael BloeschMichael BurriSammy OmariMarco HutterRoland SiegwartPublished in: Int. J. Robotics Res. (2017)
Keyphrases
- inertial sensors
- visual feedback
- kalman filter
- visual features
- visual information
- sensor fusion
- low level
- relevance feedback
- position and orientation
- visual odometry
- noise reduction
- motion tracking
- visual perception
- visual cues
- motion sequences
- visual representation
- filtering algorithm
- discriminative power
- computer vision
- dynamic environments
- feature points
- image retrieval
- high level