Towards Robust Visual-Inertial Odometry with Multiple Non-Overlapping Monocular Cameras
Yao He,Huai Yu,Wen Yang,Sebastian Scherer,Yao He,Huai Yu,Wen Yang,Sebastian Scherer
We present a Visual-Inertial Odometry (VIO) algorithm with multiple non-overlapping monocular cameras aiming at improving the robustness of the VIO algorithm. An initialization scheme and tightly-coupled bundle adjustment for multiple non-overlapping monocular cameras are proposed. With more stable features captured by multiple cameras, VIO can maintain stable state estimation, especially when one...
