Monocular Visual-Inertial Odometry in Low-Textured Environments with Smooth Gradients: A Fully Dense Direct Filtering Approach
Alexander Hardt-Stremayr,Stephan Weiss,Alexander Hardt-Stremayr,Stephan Weiss
State of the art visual-inertial odometry approaches suffer from the requirement of high gradients and sufficient visual texture. Even direct photometric approaches select a subset of the image with high-gradient areas and ignore smooth gradients or generally low-textured areas. In this work, we show that taking all image information (i.e. every single pixel) enables visual-inertial odometry even ...
