A GPS-aided Omnidirectional Visual-Inertial State Estimator in Ubiquitous Environments.

Yang Yu Wenliang Gao Chengju Liu Shaojie Shen Ming Liu

Published in: IROS (2019)

Keyphrases

ubiquitous environments
maximum likelihood
state space
vision system
stereo vision
dynamic model
mobile devices
visual features
estimation error