Ov Plane Versions Save

A monocular plane-aided visual-inertial odometry


8 months ago

Original release of the system to the public. This system has the following abilities and features:

  • Visual inertial simulator with environmental planes
  • Ability to detect and track environmental planes from sparse points
  • Can recover closest-point plane and initialize into state as SLAM
  • Point-on-plane constraints can be applied for all co-planar point features
  • The Indoor AR Table dataset is released
  • AR render display demo and visualization of environmental planes
  • Result and evaluation scripts from paper