Monocular Visual-Inertial Odometry with Planar Regularities
Chuchu Chen,Patrick Geneva,Yuxiang Peng,Woosik Lee,Guoquan Huang,Chuchu Chen,Patrick Geneva,Yuxiang Peng,Woosik Lee,Guoquan Huang
State-of-the-art monocular visual-inertial odometry (VIO) approaches rely on sparse point features in part due to their efficiency, robustness, and prevalence, while ignoring high-level structural regularities such as planes that are common to man-made environments and can be exploited to further constrain motion. Generally, planes can be observed by a camera for significant periods of time due to...
