Trifo-VIO: Robust and Efficient Stereo Visual Inertial Odometry using Points and Lines

6 Mar 2018Feng ZhengGrace TsaiZhe ZhangShaoshan LiuChen-Chi ChuHongbing Hu

In this paper, we present the Trifo Visual Inertial Odometry (Trifo-VIO), a tightly-coupled filtering-based stereo VIO system using both points and lines. Line features help improve system robustness in challenging scenarios when point features cannot be reliably detected or tracked, e.g. low-texture environment or lighting change... (read more)

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