OrcVIO: Object residual constrained Visual-Inertial Odometry
Mo Shan,Qiaojun Feng,Nikolay Atanasov,Mo Shan,Qiaojun Feng,Nikolay Atanasov
Introducing object-level semantic information into simultaneous localization and mapping (SLAM) system is critical. It not only improves the performance but also enables tasks specified in terms of meaningful objects. This work presents OrcVIO, for visual-inertial odometry tightly coupled with tracking and optimization over structured object models. OrcVIO differentiates through semantic feature a...
