TANGO-VIO enforces a lower bound on the average log-determinant of feature stacked-bearing matrices through a control barrier function velocity filter, improving VIO triangulation robustness.
High-precision, consistent EKF-based visual-inertial odometry,
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TANGO-VIO: Triangulation-Aware Navigation with Guaranteed Feature-Observability for Visual-Inertial Odometry
TANGO-VIO enforces a lower bound on the average log-determinant of feature stacked-bearing matrices through a control barrier function velocity filter, improving VIO triangulation robustness.