Robust Visual-Inertial Odometry Based on a Kalman Filter and Factor Graph.
Zhiwei WangBao PangYong SongXianfeng YuanQingyang XuYibin LiPublished in: IEEE Trans. Intell. Transp. Syst. (2023)
Keyphrases
- kalman filter
- kalman filtering
- factor graphs
- state estimation
- extended kalman filter
- simultaneous localization and mapping
- object tracking
- inertial sensors
- graphical models
- particle filtering
- particle filter
- message passing
- latent variables
- mean shift
- probabilistic inference
- face recognition
- belief propagation
- appearance model
- reinforcement learning