Invariant Cubature Kalman Filter for Monocular Visual Inertial Odometry with Line Features.
Deli YanChunhui WuWeiming WangYu SongShaohua LiPublished in: CoRR (2019)
Keyphrases
- kalman filter
- line features
- inertial sensors
- extended kalman filter
- kalman filtering
- simultaneous localization and mapping
- object tracking
- image sequences
- particle filter
- pose estimation
- image features
- multiple views
- data association
- structural information
- optical flow
- line correspondences
- motion parameters
- camera motion
- vision system
- data points
- object recognition
- machine learning