RD-VIO: Robust Visual-Inertial Odometry for Mobile Augmented Reality in Dynamic Environments
RD-VIO: Robust Visual-Inertial Odometry for Mobile Augmented Reality in Dynamic Environments
It is typically challenging for visual or visual-inertial odometry systems to handle the problems of dynamic scenes and pure rotation. In this work, we design a novel visual-inertial odometry (VIO) system called RD-VIO to handle both of these two problems. First, we propose an IMU-PARSAC algorithm which can robustly detect …