In this paper, we present an open platform, termed OpenVINS, for visual-inertial estimation
research for both the academic community and practitioners from industry. The open …

In feature-based simultaneous localization and mapping (SLAM), line features complement
the sparsity of point features, making it possible to map the surrounding environment …

Leveraging line features to improve localization accuracy of point-based visual-inertial
SLAM (VINS) is gaining interest as they provide additional constraints on scene structure …

This paper introduces an efficient direct visual odometry (VO) algorithm using points and
lines. Pixels on lines are generally adopted in direct methods. However, the original …

With the increasing demand for autonomous systems in the field of inspection, the use of
unmanned aerial vehicles (UAVs) to replace human labor is becoming more frequent …

Along with feature points for image matching, line features provide additional constraints to
solve visual geometric problems in robotics and computer vision (CV). Although recent …

In this paper, a degeneracy avoidance method for a point and line based visual SLAM
algorithm is proposed. Visual SLAM predominantly uses point features. However, point …

This paper proposes an illumination-robust visual odometry (VO) system that incorporates
both accelerated learning-based corner point algorithms and an extended line feature …

In this letter, we present a direct visual odometry (VO) using points and lines. Direct methods
generally choose pixels with sufficient gradients to minimize the photometric error for the …

In the article, we focus on the robustness of monocular visual-inertial-wheel odometry
(VIWO) in urban environments. In the urban environment, the rapid changes in terrain and …