SG-VIO: Monocular Visual-Inertial Odometry With Tightly Coupled Structural Lines and Gravity to Avoid Degeneracy.

Hexiong Yao Yuexin Ma Peijing Li Chunlei Zhai Jiangbo Song Mingjun Ouyang Zhiqiang Dai Xiangwei Zhu SG-VIO: Monocular Visual-Inertial Odometry With Tightly Coupled Structural Lines and Gravity to Avoid Degeneracy. 40244-40254 2024 December 11 IEEE Internet Things J. 24 https://doi.org/10.1109/JIOT.2024.3450967 db/journals/iotj/iotj11.html#YaoMLZSODZ24 streams/journals/iotj