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cs.RO2024
DOGE: An Extrinsic Orientation and Gyroscope Bias Estimation for Visual-Inertial Odometry Initialization
Zewen Xu, Yijia He, Hao Wei +1
Most existing visual-inertial odometry (VIO) initialization methods rely on accurate pre-calibrated extrinsic parameters. However, during long-term use, irreversible structural def…
cs.RO2024★ 1 cited
PGD-VIO: An Accurate Plane-Aided Visual-Inertial Odometry with Graph-Based Drift Suppression
Yidi Zhang, Fulin Tang, Zewen Xu +2
Generally, high-level features provide more geometrical information compared to point features, which can be exploited to further constrain motions. Planes are commonplace in man-m…
cs.RO2024
An Accurate and Real-time Relative Pose Estimation from Triple Point-line Images by Decoupling Rotation and Translation
Zewen Xu, Yijia He, Hao Wei +3
Line features are valid complements for point features in man-made environments. 3D-2D constraints provided by line features have been widely used in Visual Odometry (VO) and Struc…