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EMA-VIO: Deep Visual-Inertial Odometry with External Memory Attention. (arXiv:2209.08490v1 [cs.CV])
cs.CV updates on arXiv.org arxiv.org
Accurate and robust localization is a fundamental need for mobile agents.
Visual-inertial odometry (VIO) algorithms exploit the information from camera
and inertial sensors to estimate position and translation. Recent deep learning
based VIO models attract attentions as they provide pose information in a
data-driven way, without the need of designing hand-crafted algorithms.
Existing learning based VIO models rely on recurrent models to fuse multimodal
data and process sensor signal, which are hard to train and not efficient
enough. We propose …