Fan Bai

Monocular Visual-Inertial Odometry via Explicit 3D Motion Modeling

Visual-inertial odometry (VIO) estimates motion by fusing camera and inertial data. In learning-based monocular VIO, depth, scale, and motion are tightly coupled, while IMU cues are difficult to impose as geometric constraints on implicit 2D features. This paper presents a pose estimation method based on explicit 3D mo...