Monocular Visual-Inertial Odometry with an Unbiased Linear System Model and Robust Feature Tracking Front-End.

Qiu, Xiaochen; Zhang, Hai; Fu, Wenxing; Zhao, Chenxu; Jin, Yanqiong.

Afiliação

Qiu X; School of Automation Science and Electrical Engineering, Beihang University, No. 37 Xueyuan Road, Haidian District, Beijing 100191, China. qiuxiaochen@buaa.edu.cn.
Zhang H; Science and Technology on Aircraft Control Laboratory, Beihang University, No. 37 Xueyuan Road, Haidian District, Beijing 100191, China. qiuxiaochen@buaa.edu.cn.
Fu W; School of Automation Science and Electrical Engineering, Beihang University, No. 37 Xueyuan Road, Haidian District, Beijing 100191, China. zhanghai@buaa.edu.cn.
Zhao C; Science and Technology on Aircraft Control Laboratory, Beihang University, No. 37 Xueyuan Road, Haidian District, Beijing 100191, China. zhanghai@buaa.edu.cn.
Jin Y; Science and Technology on Complex System Control and Intelligent Agent Cooperation Laboratory, No. 40 Yungangbeili, Fengtai District, Beijing 100074, China. fuwenxingCHN@163.com.

Sensors (Basel) ; 19(8)2019 Apr 25.

Article em En | MEDLINE | ID: mdl-31027218

Palavras-chave

closed-form state transition equation; computation saving; quaternion notation; real-time motion tracking; robust feature tracking; visual inertial odometry

Texto completo: 1 Base de dados: MEDLINE Idioma: En Ano de publicação: 2019 Tipo de documento: Article

Texto completo: 1 Base de dados: MEDLINE Idioma: En Ano de publicação: 2019 Tipo de documento: Article