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Related Experiment Video

Updated: May 5, 2026

Using Eye-tracking to Assess the Relative Importance of Visual and Vestibular Input to Subcortical Motion Processing in the Roll Plane
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RISE-VIO: Robust Initialization and Targeted Pose Robustification for INS-Centric Visual-Inertial Odometry Under

Xiaowei Xu1, Ran Ju1, Wenhua Jiao1

  • 1College of Electrical Engineering and Control Science, Nanjing Tech University, Nanjing 211800, China.

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Summary

RISE-VIO enhances visual-inertial odometry (VIO) robustness in challenging conditions. It introduces GNC-style robustification for reliable initialization and accurate pose estimation, improving VIO performance.

Keywords:
graduated non-convexityinitialization observabilityoutlier rejectionrobust estimationvisual–inertial odometry

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Area of Science:

  • Robotics
  • Computer Vision
  • Sensor Fusion

Background:

  • Feature-based visual-inertial odometry (VIO) struggles with initialization and tracking drift in challenging visual environments.
  • Degraded conditions include low-texture, illumination changes, and dynamic objects, leading to VIO system failures.

Purpose of the Study:

  • To develop a robust real-time VIO system, RISE-VIO, that overcomes limitations in degraded visual conditions.
  • To improve robustness through GNC-style robustification in critical initialization and pose estimation stages.

Main Methods:

  • Introduced a GNC-based decoupled rotation-translation initialization module with a two-stage observability gate.
  • Developed an IMU-prior-guided GNC-EPnP module for outlier rejection in pose estimation.
  • Implemented a real-time inertial-navigation-system-centric (INS-centric) approach.

Main Results:

  • RISE-VIO demonstrated more reliable initialization compared to existing methods.
  • Achieved more stable trajectory estimation in challenging visual conditions.
  • Maintained real-time performance with enhanced robustness.

Conclusions:

  • RISE-VIO significantly improves VIO reliability and stability in adverse visual scenarios.
  • The proposed GNC-based robustification effectively handles initialization and pose estimation challenges.
  • RISE-VIO offers a robust solution for real-time navigation applications.