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cs.RO2023
Quantifying VIO Uncertainty
Stephanie Tsuei, Stefano Soatto
We compute the uncertainty of XIVO, a monocular visual-inertial odometry system based on the Extended Kalman Filter, in the presence of Gaussian noise, drift, and attribution error…
cs.CV2023
Feature Tracks are not Zero-Mean Gaussian
Stephanie Tsuei, Wenjie Mo, Stefano Soatto
In state estimation algorithms that use feature tracks as input, it is customary to assume that the errors in feature track positions are zero-mean Gaussian. Using a combination of…