Monocular Visual Inertial Direct SLAM with Robust Scale Estimation for Ground Robots/Vehicles
In this paper, we present a novel method for visual-inertial odometry for land vehicles. Our technique is robust to unintended, but unavoidable bumps, encountered when an off-road land vehicle traverses over potholes, speed-bumps or general change in terrain. In contrast to tightly-coupled methods f...
| Main Authors: | , , |
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| Format: | Article |
| Language: | English |
| Published: |
MDPI AG
2021-01-01
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| Series: | Robotics |
| Subjects: | |
| Online Access: | https://www.mdpi.com/2218-6581/10/1/23 |