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Keyframe-based visual-inertial odometry using nonlinear optimization.
Stefan Leutenegger
Simon Lynen
Michael Bosse
Roland Siegwart
Paul Timothy Furgale
Published in:
Int. J. Robotics Res. (2015)
Keyphrases
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nonlinear optimization
inertial sensors
optimization method
starting points
global search
bundle adjustment
closed form solutions
position and orientation
neural network
computer vision
multi view
structure from motion
initial solution