Visual-Inertial Odometry Based on Kinematic Constraints in IMU Frames
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DOI: 10.1109/lra.2022.3173040
Abstract: We propose a visual-inertial odometry (VIO) framework that fuses inertial measurement unit (IMU) data in the body frame based on kinematic relations. The IMU measurements are directly used as the parameters of kinematic constraints rather… read more here.
Keywords: kinematic constraints; based kinematic; visual inertial; inertial odometry ... See more keywords