Direct Sparse Stereo Visual-Inertial Global Odometry
Ziqiang Wang Mei Li Dingkun Zhou Ziqiang Zheng Ziqiang Wang Mei Li Dingkun Zhou Ziqiang Zheng
Robust and accurate localization plays a key role in autonomous driving and robot applications. To utilize the complementary properties of different sensors, we present a novel tightly-coupled approach to combine the local (stereo cameras, IMU) and global sensors (magnetometer, GNSS). We jointly optimize all the model parameters through one active window. The visual part integrates constraints fro...