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cs.RO2026
ROEVO: Robust Organized Edge Feature-based Visual Odometry Using RGB-D Cameras
Mingrui Liu, Xingxing Zuo, Renlang Huang +3
This work presents a visual odometry (VO) system that leverages image edge features. Edges are spatially expressive cues commonly present across diverse environments, offering rich…
cs.RO2026
Efficient Feature-Free Initialization for Monocular Visual-Inertial Systems Using a Feed-Forward 3D Model
Yuantai Zhang, Jiaqi Yang, Huajian Zeng +5
Fast and reliable initialization is critical for monocular visual-inertial navigation systems (VINS), as it establishes the starting conditions for subsequent state estimation. Des…