DUI-VIO: Depth Uncertainty Incorporated Visual Inertial Odometry based on an RGB-D Camera
He Zhang,Cang Ye,He Zhang,Cang Ye
This paper presents a new visual-inertial odometry, term DUI-VIO, for estimating the motion state of an RGB-D camera. First, a Gaussian mixture model (GMM) to is employed to model the uncertainty of the depth data for each pixel on the camera's color image. Second, the uncertainties are incorporated into the VIO's initialization and optimization processes to make the state estimate more accurate. ...
