Abstract: Early works have shown that inertial measurement unit (IMU) can help visual odometry to achieve more accurate pose estimation. However, existing methods mainly focus on fusing visual and ...
Abstract: Metric-scale state estimation is a cornerstone for autonomous systems, yet single-modality solutions often fail in challenging real-world environments. Visual odometry suffers from inherent ...
LEVIO is a complete Visual-Inertial Odometry (VIO) system that recovers metric-scale 6-DOF camera poses by fusing monocular vision with inertial measurements. It is designed from the ground up for ...
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