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cs.RO2024
SP-VIO: Robust and Efficient Filter-Based Visual Inertial Odometry with State Transformation Model and Pose-Only Visual Description
Xueyu Du, Lilian Zhang, Chengjun Ji +5
Due to the advantages of high computational efficiency and small memory requirements, filter-based visual inertial odometry (VIO) has a good application prospect in miniaturized an…
cs.RO2024★ 1 cited
PO-MSCKF: An Efficient Visual-Inertial Odometry by Reconstructing the Multi-State Constrained Kalman Filter with the Pose-only Theory
Xueyu Du, Lilian Zhang, Ruochen Liu +3
Efficient Visual-Inertial Odometry (VIO) is crucial for payload-constrained robots. Though modern optimization-based algorithms have achieved superior accuracy, the MSCKF-based VIO…