FRINK Linked Data Fragments server

Matches in SemOpenAlex for { <https://semopenalex.org/work/W3106307379> ?p ?o ?g. }

• W3106307379 abstract "We present a direct visual-inertial odometry (VIO) method which estimates the motion of the sensor setup and sparse 3D geometry of the environment based on measurements from a rolling-shutter camera and an inertial measurement unit (IMU). The visual part of the system performs a photometric bundle adjustment on a sparse set of points. This direct approach does not extract feature points and is able to track not only corners, but any pixels with sufficient gradient magnitude. Neglecting rolling-shutter effects in the visual part severely degrades accuracy and robustness of the system. In this paper, we incorporate a rolling-shutter model into the photometric bundle adjustment that estimates a set of recent keyframe poses and the inverse depth of a sparse set of points. IMU information is accumulated between several frames using measurement preintegration, and is inserted into the optimization as an additional constraint between selected keyframes. For every keyframe we estimate not only the pose but also velocity and biases to correct the IMU measurements. Unlike systems with global-shutter cameras, we use both IMU measurements and rolling-shutter effects of the camera to estimate velocity and biases for every state. Last, we evaluate our system on a novel dataset that contains global-shutter and rolling-shutter images, IMU data and ground-truth poses for ten different sequences, which we make publicly available. Evaluation shows that the proposed method outperforms a system where rolling shutter is not modelled and achieves similar accuracy to the global-shutter method on global-shutter data." @default.
• W3106307379 created "2020-11-23" @default.
• W3106307379 creator A5011956228 @default.
• W3106307379 creator A5030885835 @default.
• W3106307379 creator A5072742742 @default.
• W3106307379 creator A5074999576 @default.
• W3106307379 creator A5087710605 @default.
• W3106307379 date "2019-11-01" @default.
• W3106307379 modified "2023-10-09" @default.
• W3106307379 title "Rolling-Shutter Modelling for Direct Visual-Inertial Odometry" @default.
• W3106307379 cites W1981699551 @default.
• W3106307379 cites W1987441863 @default.
• W3106307379 cites W2019321876 @default.
• W3106307379 cites W2021930164 @default.
• W3106307379 cites W2049750053 @default.
• W3106307379 cites W2080486046 @default.
• W3106307379 cites W2118223742 @default.
• W3106307379 cites W2150066425 @default.
• W3106307379 cites W2167896722 @default.
• W3106307379 cites W2411412724 @default.
• W3106307379 cites W2419416064 @default.
• W3106307379 cites W2474281075 @default.
• W3106307379 cites W2482726005 @default.
• W3106307379 cites W2538522345 @default.
• W3106307379 cites W2745859992 @default.
• W3106307379 cites W2754177129 @default.
• W3106307379 cites W2797395780 @default.
• W3106307379 cites W3102327032 @default.
• W3106307379 cites W3103648783 @default.
• W3106307379 cites W3105612746 @default.
• W3106307379 cites W4230766380 @default.
• W3106307379 cites W4246614213 @default.
• W3106307379 doi "https://doi.org/10.1109/iros40897.2019.8968539" @default.
• W3106307379 hasPublicationYear "2019" @default.
• W3106307379 type Work @default.
• W3106307379 sameAs 3106307379 @default.
• W3106307379 citedByCount "18" @default.
• W3106307379 countsByYear W31063073792020 @default.
• W3106307379 countsByYear W31063073792021 @default.
• W3106307379 countsByYear W31063073792022 @default.
• W3106307379 countsByYear W31063073792023 @default.
• W3106307379 crossrefType "proceedings-article" @default.
• W3106307379 hasAuthorship W3106307379A5011956228 @default.
• W3106307379 hasAuthorship W3106307379A5030885835 @default.
• W3106307379 hasAuthorship W3106307379A5072742742 @default.
• W3106307379 hasAuthorship W3106307379A5074999576 @default.
• W3106307379 hasAuthorship W3106307379A5087710605 @default.
• W3106307379 hasBestOaLocation W31063073792 @default.
• W3106307379 hasConcept C104317684 @default.
• W3106307379 hasConcept C115961682 @default.
• W3106307379 hasConcept C120665830 @default.
• W3106307379 hasConcept C121332964 @default.
• W3106307379 hasConcept C154945302 @default.
• W3106307379 hasConcept C160633673 @default.
• W3106307379 hasConcept C179458375 @default.
• W3106307379 hasConcept C185592680 @default.
• W3106307379 hasConcept C19966478 @default.
• W3106307379 hasConcept C2776166537 @default.
• W3106307379 hasConcept C2776871301 @default.
• W3106307379 hasConcept C31972630 @default.
• W3106307379 hasConcept C41008148 @default.
• W3106307379 hasConcept C49441653 @default.
• W3106307379 hasConcept C55493867 @default.
• W3106307379 hasConcept C5799516 @default.
• W3106307379 hasConcept C63479239 @default.
• W3106307379 hasConcept C79061980 @default.
• W3106307379 hasConcept C86369673 @default.
• W3106307379 hasConcept C90509273 @default.
• W3106307379 hasConceptScore W3106307379C104317684 @default.
• W3106307379 hasConceptScore W3106307379C115961682 @default.
• W3106307379 hasConceptScore W3106307379C120665830 @default.
• W3106307379 hasConceptScore W3106307379C121332964 @default.
• W3106307379 hasConceptScore W3106307379C154945302 @default.
• W3106307379 hasConceptScore W3106307379C160633673 @default.
• W3106307379 hasConceptScore W3106307379C179458375 @default.
• W3106307379 hasConceptScore W3106307379C185592680 @default.
• W3106307379 hasConceptScore W3106307379C19966478 @default.
• W3106307379 hasConceptScore W3106307379C2776166537 @default.
• W3106307379 hasConceptScore W3106307379C2776871301 @default.
• W3106307379 hasConceptScore W3106307379C31972630 @default.
• W3106307379 hasConceptScore W3106307379C41008148 @default.
• W3106307379 hasConceptScore W3106307379C49441653 @default.
• W3106307379 hasConceptScore W3106307379C55493867 @default.
• W3106307379 hasConceptScore W3106307379C5799516 @default.
• W3106307379 hasConceptScore W3106307379C63479239 @default.
• W3106307379 hasConceptScore W3106307379C79061980 @default.
• W3106307379 hasConceptScore W3106307379C86369673 @default.
• W3106307379 hasConceptScore W3106307379C90509273 @default.
• W3106307379 hasLocation W31063073791 @default.
• W3106307379 hasLocation W31063073792 @default.
• W3106307379 hasOpenAccess W3106307379 @default.
• W3106307379 hasPrimaryLocation W31063073791 @default.
• W3106307379 hasRelatedWork W197633916 @default.
• W3106307379 hasRelatedWork W2003315864 @default.
• W3106307379 hasRelatedWork W2129875293 @default.
• W3106307379 hasRelatedWork W2625455490 @default.
• W3106307379 hasRelatedWork W2971051170 @default.
• W3106307379 hasRelatedWork W2980356813 @default.
• W3106307379 hasRelatedWork W3028427889 @default.
• W3106307379 hasRelatedWork W3039617376 @default.

• next