Balancing the budget: Feature selection and tracking for multi-camera visual-inertial odometry
We present a multi-camera visual-inertial odometry system based on factor graph optimization which estimates motion by using all cameras simultaneously while retaining a fixed overall feature budget. We focus on motion tracking in challenging environments, such as narrow corridors, dark spaces with...
| Main Authors: | , , , |
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| Format: | Journal article |
| Language: | English |
| Published: |
IEEE
2021
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