Stereo-NEC: Enhancing Stereo Visual-Inertial SLAM Initialization with Normal Epipolar Constraints
Weihan Wang,Chieh Chou,Ganesh Sevagamoorthy,Kevin Chen,Zheng Chen,Ziyue Feng,Youjie Xia,Feiyang Cai,Yi Xu,Philippos Mordohai,Weihan Wang,Chieh Chou,Ganesh Sevagamoorthy,Kevin Chen,Zheng Chen,Ziyue Feng,Youjie Xia,Feiyang Cai,Yi Xu,Philippos Mordohai
We propose an accurate and robust initialization approach for stereo visual-inertial SLAM systems. Unlike the current state-of-the-art method, which heavily relies on the accuracy of a pure visual SLAM system to estimate inertial variables without updating camera poses, potentially compromising accuracy and robustness, our approach offers a different solution. We realize the crucial impact of prec...
