Zhidu Huang

RDIC-MSCKF: Risk–Direction-Decoupled and Innovation-Calibrated MSCKF for Stereo Visual-Inertial Odometry

Filtering-based stereo visual-inertial odometry often assigns fixed or uniformly scaled covariance to tracks accepted by the front-end, although accepted observations can differ in terms of tracking reliability, local directional identifiability, and agreement with the batch-leve...