Revisiting visual-inertial structure from motion for odometry and SLAM initialization.
Georgios EvangelidisBranislav MicusíkPublished in: CoRR (2020)
Keyphrases
- structure from motion
- inertial sensors
- motion estimates
- visual slam
- monocular camera
- bundle adjustment
- simultaneous localization and mapping
- image sequences
- camera parameters
- computer vision
- point cloud
- missing data
- sensor fusion
- dynamic environments
- scene structure
- feature tracking
- visual odometry
- mobile robot
- reprojection error
- kalman filter
- camera motion
- focal length
- camera pose
- image based localization
- extended kalman filter
- reconstruction from multiple images
- mobile robotics
- motion tracking
- data association
- indoor environments
- depth map
- three dimensional
- machine learning