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cs.RO2024
TON-VIO: Online Time Offset Modeling Networks for Robust Temporal Alignment in High Dynamic Motion VIO
Chaoran Xiong, Guoqing Liu, Qi Wu +6
Temporal misalignment (time offset) between sensors is common in low cost visual-inertial odometry (VIO) systems. Such temporal misalignment introduces inconsistent constraints for…
cs.RO2023
PLV-IEKF: Consistent Visual-Inertial Odometry using Points, Lines, and Vanishing Points
Tong Hua, Tao Li, Liang Pang +4
In this paper, we propose an Invariant Extended Kalman Filter (IEKF) based Visual-Inertial Odometry (VIO) using multiple features in man-made environments. Conventional EKF-based V…