Hierarchical Quadtree Feature Optical Flow Tracking Based Sparse Pose-Graph Visual-Inertial SLAM
Hongle Xie,Weidong Chen,Jingchuan Wang,Hesheng Wang,Hongle Xie,Weidong Chen,Jingchuan Wang,Hesheng Wang
Accurate, robust and real-time localization under constrained-resources is a critical problem to be solved. In this paper, we present a new sparse pose-graph visual-inertial SLAM (SPVIS). Unlike the existing methods that are costly to deal with a large number of redundant features and 3D map points, which are inefficient for improving positioning accuracy, we focus on the concise visual cues for h...
