Monocular Visual-Inertial SLAM for Fixed-Wing UAVs Using Sliding Window Based Nonlinear Optimization.
Timo HinzmannThomas SchneiderMarcin DymczykAndreas SchaffnerSimon LynenRoland SiegwartIgor GilitschenskiPublished in: ISVC (1) (2016)
Keyphrases
- nonlinear optimization
- starting points
- optimization method
- bundle adjustment
- global search
- mobile robot
- image sequences
- closed form solutions
- visual odometry
- dynamic environments
- inertial sensors
- pose estimation
- particle filter
- simultaneous localization and mapping
- path planning
- position and orientation
- search algorithm