Visual-Inertial Monocular SLAM With Map Reuse.
IEEE Robotics and Automation Letters(2017)
摘要
In recent years there have been excellent results in visual-inertial odometry techniques, which aim to compute the incremental motion of the sensor with high accuracy and robustness. However, these approaches lack the capability to close loops and trajectory estimation accumulates drift even if the sensor is continually revisiting the same place. In this letter, we present a novel tightly coupled ...
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关键词
Optimization,Cameras,Gravity,Accelerometers,Simultaneous localization and mapping,Tracking loops
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