Marcus Valtonen Örnhag

Gravity-aware partially calibrated absolute pose estimation from affine- or rotation-covariant features

Inertial measurement units (IMUs) are now standard in most consumer devices, such as smartphones, drones, and extended reality (XR) headsets. By fusing visual and inertial data, localization systems gain significantly in speed and robustness compared to vision-only or IMU-only approaches. However, traditional pose esti...