PLPL-VIO: A Novel Probabilistic Line Measurement Model for Point-Line-Based Visual-Inertial Odometry
Zewen Xu,Hao Wei,Fulin Tang,Yidi Zhang,Yihong Wu,Gang Ma,Shuzhe Wu,Xin Jin,Zewen Xu,Hao Wei,Fulin Tang,Yidi Zhang,Yihong Wu,Gang Ma,Shuzhe Wu,Xin Jin
Point and line features are complementary in Visual-Inertial Odometry (VIO) or Visual-Inertial Simultaneous Localization And Mapping (VI-SLAM) systems. The advantage of combining these two types of features relies on their proper weighting in the cost function, usually set by their uncertainty. Compared with point features, setting line segment endpoints' uncertainty with isotropic distribution is...
