Keyframe-Based Visual-Inertial Odometry Using Nonlinear Optimization.pdf

VSLAM

Combining visual and inertial measurements has become popular in mobile robotics, since the two sensing modalities offer complementary characteristics that make them the ideal choice for accurate Visual-Inertial Odometry or Simultaneous Localization and Mapping (SLAM). While historically the problem has been addressed with filtering, advancements in visual estimation suggest that non-linear optimization offers superior accuracy, while still tractable in complexity thanks to the sparsity of the underlying problem. Taking inspirat

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Keyframe-Based Visual-Inertial Odometry Using Nonlinear Optimization.pdf

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