A visual-inertial tracking system that initializes from four frames by tightly coupling gyroscope rotation into structure-from-motion and that combines optical flow with ORB matching reports lower trajectory error than several open-source baselines.
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XR-VIO: High-precision Visual Inertial Odometry with Fast Initialization for XR Applications
A visual-inertial tracking system that initializes from four frames by tightly coupling gyroscope rotation into structure-from-motion and that combines optical flow with ORB matching reports lower trajectory error than several open-source baselines.