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This paper presents a novel approach to visual-inertial fusion for direct velocity estimation using a dynamic vision sensor, which allows for improved performance in high-dynamic environments. The method employs trifocal tensor geometry and a two-layer RANSAC scheme to achieve reliable velocity estimates without relying on absolute coordinates. Experiments demonstrate that this approach outperforms traditional visual-inertial odometry methods, providing stable and accurate kinematic estimations in challengi

Author

dda326860

Language

EN