3 papers
cs.RO2025
Structureless VIO
Junlin Song, Miguel Olivares-Mendez
Visual odometry (VO) is typically considered as a chicken-and-egg problem, as the localization and mapping modules are tightly-coupled. The estimation of a visual map relies on acc…
cs.RO2025
Observability Investigation for Rotational Calibration of (Global-pose aided) VIO under Straight Line Motion
Junlin Song, Antoine Richard, Miguel Olivares-Mendez
Online extrinsic calibration is crucial for building "power-on-and-go" moving platforms, like robots and AR devices. However, blindly performing online calibration for unobservable…
cs.RO2025
Improving Monocular Visual-Inertial Initialization with Structureless Visual-Inertial Bundle Adjustment
Junlin Song, Antoine Richard, Miguel Olivares-Mendez
Monocular visual inertial odometry (VIO) has facilitated a wide range of real-time motion tracking applications, thanks to the small size of the sensor suite and low power consumpt…