Targetless extrinsic calibration of IMU and RGB-D sensors on UAVs via deep-learning floor segmentation and gravity alignment.
FracGM: A Fast Fractional Programming Technique for Geman-McClure Robust Estimator,
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Ground Plane-Aided Extrinsic Calibration of Inertial and RGB-D Sensors for Uncrewed Aerial Vehicles
Targetless extrinsic calibration of IMU and RGB-D sensors on UAVs via deep-learning floor segmentation and gravity alignment.