L-C*: Visual-inertial Loose Coupling for Resilient and Lightweight Direct Visual Localization
Shuji Oishi,Kenji Koide,Masashi Yokozuka,Atsuhiko Banno,Shuji Oishi,Kenji Koide,Masashi Yokozuka,Atsuhiko Banno
This study presents a framework, L-C*, for resilient and lightweight direct visual localization, employing a loosely coupled fusion of visual and inertial data. Unlike indirect methods, direct visual localization facilitates accurate pose estimation on general color three-dimensional maps that are not tailored for visual localization. However, it suffers from temporal localization failures and hig...
