3 accepted papers
In this work, we introduce an enhanced square-root information filter for visual-inertial odometry. This filter utilizes stochastic cloning, implemented via Gaussian elimination, to facilitate time offset calibration and feature anchor changes. By using single-precision numbers within the filter, we
Knowing the relative rotation angle improves relative pose estimation accuracy. We consider the problem of computing relative motion from a non-minimal number of correspondences with a known relative rotation angle. While several solvers for minimum correspondences have been proposed, no non-minimal…
Finding relative pose for cameras is of vital importance in computer vision and robotics. We investigate the problem of relative motion estimation between successive frames from a minimal number of correspondences. Existing approximated methods use a first-order approximation to relative pose in ord…