Line-Feature based VIO for Re-Localization

Project Owner · Line-feature based VIO designed to improve re-localization performance on MR headsets.

1. Designed the VIO front-end and factor formulation so that line features complement classic point-based tracking, especially in low-texture indoor scenes.
2. Demonstrated the resulting system improves re-localization robustness in the MR scenarios that the spatial-anchor product cares about.