Stereo Visual Inertial Odometry with Online Baseline Calibration
Yunfei Fan,Ruofu Wang,Yinian Mao,Yunfei Fan,Ruofu Wang,Yinian Mao
Stereo-vision devices have rigorous requirements for extrinsic parameter calibration. In Stereo Visual Inertial Odometry (VIO), inaccuracy in or changes to camera extrinsic parameters may lead to serious degradation in estimation performance. In this manuscript, we propose an online calibration method for stereo VIO extrinsic parameters correction. In particular, we focus on Multi-State Constraint...
