Abstract: The reprojection error in Visual-Inertial Odometry (VIO) suffers from high nonlinearity due to perspective division, which degrades estimator consistency ...
Abstract: Accurate odometry is crucial for mapping and localization of autonomous vehicles in unknown environment. Deep neural networks have shown significant promise in self-supervised odometry, ...
We propose a novel LiDAR-Visual-Inertial Odometry (LVIO) for real-time navigation and mapping. PA-LVIO employs a pose-only bundle adjustment (PA) framework, which is highly accurate and efficient, for ...
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