Field-VIO: Stereo Visual-Inertial Odometry Based on Quantitative Windows in Agricultural Open Fields
Jianjing Sun,Shuang Wu,Jun Dong,Junming He,Jianjing Sun,Shuang Wu,Jun Dong,Junming He
In agricultural open fields, accurate autonomous localization of robots requires long-term data correlation to reduce cumulative error. Our article presents a Stereo Visual-Inertial Odometry (VIO) system based on ORB-SLAM3 to address the malfunction of the Loop Closure Detection (LCD) methods in this environment. In this method, we first propose a concept of quantitative windows to describe the ro...
