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- W2897637079 abstract "State-of-the-art forward facing monocular visual-inertial odometry algorithms are often brittle in practice, especially whilst dealing with initialisation and motion in directions that render the state unobservable. In such cases having a reliable complementary odometry algorithm enables robust and resilient flight. Using the common local planarity assumption, we present a fast, dense, and direct frame-to-frame visual-inertial odometry algorithm for downward facing cameras that minimises a joint cost function involving a homography based photometric cost and an IMU regularisation term. Via extensive evaluation in a variety of scenarios we demonstrate superior performance than existing state-of-the-art downward facing odometry algorithms for Micro Aerial Vehicles (MAVs)." @default.
- W2897637079 created "2018-10-26" @default.
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- W2897637079 date "2018-10-19" @default.
- W2897637079 modified "2023-09-25" @default.
- W2897637079 title "RaD-VIO: Rangefinder-aided Downward Visual-Inertial Odometry" @default.
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- W2897637079 doi "https://doi.org/10.48550/arxiv.1810.08704" @default.
- W2897637079 hasPublicationYear "2018" @default.
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