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Monocular Visual Inertial Direct SLAM with Robust Scale Estimation for Ground Robots/Vehicles
2021
Robotics
In this paper, we present a novel method for visual-inertial odometry for land vehicles. Our technique is robust to unintended, but unavoidable bumps, encountered when an off-road land vehicle traverses over potholes, speed-bumps or general change in terrain. In contrast to tightly-coupled methods for visual-inertial odometry, we split the joint visual and inertial residuals into two separate steps and perform the inertial optimization after the direct-visual alignment step. We utilize all
doi:10.3390/robotics10010023
fatcat:4hgjdr7idrgulhl3ncckwtzrwm