Structural Lines Aided Monocular Visual-Inertial-Wheel Odometry With Online IMU-Wheel Extrinsic Optimization on ${\mathbb{S}}^{2}$ Manifold.
Chenglin PangXingjian LuoJibo WangZheng FangPublished in: IEEE Trans. Intell. Veh. (2024)
Keyphrases
- inertial sensors
- sensor fusion
- inertial measurement unit
- image sequences
- position and orientation
- online learning
- optimization algorithm
- visual odometry
- wheeled mobile robots
- structural information
- wheel slip
- real time
- visual information
- optimization problems
- manifold learning
- motion sequences
- kalman filter
- pose estimation
- optical flow
- line drawings