DS-VIO: Robust and Efficient Stereo Visual Inertial Odometry based on Dual Stage EKF

2 May 2019 Xiaogang Xiong Wenqing Chen Zhichao Liu Qiang Shen

This paper presents a dual stage EKF (Extended Kalman Filter)-based algorithm for the real-time and robust stereo VIO (visual inertial odometry). The first stage of this EKF-based algorithm performs the fusion of accelerometer and gyroscope while the second performs the fusion of stereo camera and IMU... (read more)

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