Visual-Inertial Odometry of Smartphone under Manhattan World
Based on the hypothesis of the Manhattan world, we propose a tightly-coupled monocular visual-inertial odometry (VIO) system that combines structural features with point features and can run on a mobile phone in real-time. The back-end optimization is based on the sliding window method to improve co...
| Main Authors: | , , , |
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| Format: | Article |
| Language: | English |
| Published: |
MDPI AG
2020-11-01
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| Series: | Remote Sensing |
| Subjects: | |
| Online Access: | https://www.mdpi.com/2072-4292/12/22/3818 |