Tightly-coupled Fusion of Global Positional Measurements in Optimization-based Visual-Inertial Odometry.
Giovanni CioffiDavide ScaramuzzaPublished in: CoRR (2020)
Keyphrases
- tightly coupled
- inertial sensors
- sensor fusion
- fine grained
- general purpose
- loosely coupled
- optimization problems
- optimization algorithm
- position and orientation
- data fusion
- optimization process
- information fusion
- mobile robot
- motion tracking
- visual information
- high level
- constrained optimization
- global optimization
- kalman filter
- motion sequences
- optimization method
- human vision
- calibration method
- visual features
- positional information