RP-VIO: Robust Plane-based Visual-Inertial Odometry for Dynamic Environments
Karnik Ram,Chaitanya Kharyal,Sudarshan S. Harithas,K. Madhava Krishna,Karnik Ram,Chaitanya Kharyal,Sudarshan S. Harithas,K. Madhava Krishna
Modern visual-inertial navigation systems (VINS) are faced with a critical challenge in real-world deployment: they need to operate reliably and robustly in highly dynamic environments. Current best solutions merely filter dynamic objects as outliers based on the semantics of the object category. Such an approach does not scale as it requires semantic classifiers to encompass all possibly-moving o...
