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Robust visual inertial odometry using a direct EKF-based approach.

Michael BlöschSammy OmariMarco HutterRoland Siegwart
Published in: IROS (2015)
Keyphrases
  • inertial sensors
  • kalman filter
  • extended kalman filter
  • neural network
  • visual information
  • computationally efficient
  • position and orientation
  • visual perception
  • learning algorithm
  • partial occlusion