A monotonic spline fitted to sparse visual-inertial features rescales monocular relative depth to metric depth, enabling collision avoidance with a single camera and IMU.
Real-time monocular dense mapping on aerial robots using visual-inertial fusion,
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Zero-Shot Metric Depth Estimation via Monocular Visual-Inertial Rescaling for Autonomous Aerial Navigation
A monotonic spline fitted to sparse visual-inertial features rescales monocular relative depth to metric depth, enabling collision avoidance with a single camera and IMU.