VINS-Mono: A Robust and Versatile Monocular Visual-Inertial State Estimator.

IEEE Transactions on Robotics（2018）

引用 3253|浏览286

暂无评分

摘要

One camera and one low-cost inertial measurement unit (IMU) form a monocular visual-inertial system (VINS), which is the minimum sensor suite (in size, weight, and power) for the metric six degrees-of-freedom (DOF) state estimation. In this paper, we present VINS-Mono: a robust and versatile monocular visual-inertial state estimator. Our approach starts with a robust procedure for estimator initia...

查看译文

关键词

Cameras,Optimization,Visualization,Feature extraction,Robustness,Robot sensing systems

AI 理解论文

溯源树

样例

生成溯源树，研究论文发展脉络

Chat Paper

正在生成论文摘要