Leveraging Planar Regularities for Point Line Visual-Inertial Odometry
Xin Li,Yijia He,Jinlong Lin,Xiao Liu,Xin Li,Yijia He,Jinlong Lin,Xiao Liu
With monocular Visual-Inertial Odometry (VIO) system, 3D point cloud and camera motion can be estimated simultaneously. Because pure sparse 3D points provide a structureless representation of the environment, generating 3D mesh from sparse points can further model the environment topology and produce dense mapping. To improve the accuracy of 3D mesh generation and localization, we propose a tightl...
