On-Manifold Preintegration for Real-Time Visual-Inertial Odometry.pdf

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Abstract: Current approaches for visual-inertial odometry (VIO) are able to attain highly accurate state estimation via nonlinear optimization. However, real-time optimization quickly becomes infeasible as the trajectory grows over time; this problem is further emphasized by the fact that inerti

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3.5MB
On-Manifold Preintegration for Real-Time Visual-Inertial Odometry.pdf

Abstract: Current approaches for visual-inertial odometry (VIO) are able to attain highly accurate state estimation via nonlinear optimization. However, real-time optimization quickly becomes infeasible as the trajectory grows over time; this problem is further emphasized by the fact that inerti

2020-04-06 立即下载
1.73MB
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