Constrained Visual-Inertial Localization With Application And Benchmark in Laparoscopic Surgery
Regine Hartwig,Daniel Ostler,Jean-Claude Rosenthal,Hubertus Feußner,Dirk Wilhelm,Dirk Wollherr,Regine Hartwig,Daniel Ostler,Jean-Claude Rosenthal,Hubertus Feußner,Dirk Wilhelm,Dirk Wollherr
We propose a novel method to tackle the visual-inertial localization problem for constrained camera movements. We use residuals from the different modalities to jointly optimize a global cost function. The residuals emerge from IMU measurements, stereoscopic feature points, and constraints on possible solutions in SE(3). In settings where dynamic disturbances are frequent, the residuals reduce the...
