Su-Cheng Yang

Exposure-Midpoint Temporal Alignment and Risk-Aware Adaptive Feature Tracking for Stereo Visual–Inertial Odometry

Visual–inertial odometry (VIO) on industrial stereo camera–IMU platforms suffers from frame-dependent timing errors and degraded feature tracking under auto-exposure, auto-gain adjustment, and rapid motion. This paper presents Hardware-Synchronized Exposure-State-Aware VINS-Fusion (HS-ES-VINS), a hardware-synchronized,...