Sampson Distance: A New Approach to Improving Visual-Inertial Odometry's Accuracy
He Zhang,Cang Ye,He Zhang,Cang Ye
In this paper, we propose a new scheme based on the Sampson distance (SD) to describe visual feature residuals for visual-inertial odometry (VIO). Unlike the epipolar-constraint-based SD for visual odometry (VO), the proposed SD is formulated based on the perspective projection constraint. We proved in theory that the proposed SD retains the good properties of those earlier SD criteria in the lite...
