BEVIO: Efficient Bird's-Eye-View based Sparse-Update Visual-Inertial Odometry for Lunar Day-Night Navigation

Mohit Singh, Shehryar Khattak, Ashish Goel +3

Visual-Inertial Odometry (VIO) provides smooth, high-rate state estimates and has been widely used for robotic navigation in both terrestrial and planetary applications. However, i…