Asynchronous adaptive conditioning for visual-inertial SLAM

The International Journal of Robotics Research, Volume 34, Issue 13, 2015, Pages 1573-1589.

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Keywords:
Simultaneous localization and mapping (SLAM)visual–inertial odometryroboticsinertial measurement unit (IMU)bundle adjustmentMore(1+)

Abstract:

This paper is concerned with real-time monocular visual-inertial simultaneous localization and mapping SLAM. In particular a tightly coupled nonlinear-optimization-based solution that can match the global optimal result in real time is proposed. The methodology is motivated by the requirement to produce a scale-correct visual map, in an o...More

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