Geotri-VIO projection centered on triangular prisms preserves geometric consistency in panoramic images for smarter GPS-denied navigation

https://www.eurekalert.org/news-releases/1093651

"more accurate feature extraction, tracking, localization accuracy... multi-prism projection restoring geometric consistency across panoramic images, shaping projection planes as tangent triangular prisms around camera’s spherical field... preserves spatial relationships between pixels, correcting nonlinear distortions... up to 39% lower Absolute Trajectory Error/ superior robustness in dynamic conditions... negligible computational overhead... compatible with both point and line feature... self-driving cars, VR"

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