VINS-MKF: A Tightly-Coupled Multi-Keyframe Visual-Inertial Odometry for Accurate and Robust State Estimation
نویسندگان
چکیده
منابع مشابه
Keyframe-based visual-inertial odometry using nonlinear optimization
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 opt...
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ژورنال
عنوان ژورنال: Sensors
سال: 2018
ISSN: 1424-8220
DOI: 10.3390/s18114036