Visual Inertial Odometry (VIO) is commonly used for real-time Unmanned Aerial Vehicle (UAV) localization. However, the performance of VIO significantly deteriorates when UAV encounters sudden lighting ...

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This article proposes a monocular point-line visual-inertial odometry (VIO) with line filtering and fast line matching (FLM PL-VIO), improving the localization accuracy and robustness. Different from ...