Chengliang Zhang

Multi-Resolution Voxelized Map-Based Stereo Visual-Inertial Odometry

Shuyi Pan, Hangtian Wang, Zhaoxing Zhang, Chengliang Zhang, Zikang Yuan, Xin Yang

Incorporating prior maps significantly enhances the accuracy and robustness of pose estimation in visual-inertial odometry (VIO). However, the large data volume of such maps, combined with limited transmission bandwidth, makes it impractical to continuously load local maps onto a…Read more