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Keyframe-Based Visual-Inertial SLAM using Nonlinear Optimization.

Stefan LeuteneggerPaul Timothy FurgaleVincent RabaudMargarita ChliKurt KonoligeRoland Siegwart
Published in: Robotics: Science and Systems (2013)
Keyphrases
  • nonlinear optimization
  • bundle adjustment
  • starting points
  • optimization method
  • global search
  • mobile robot
  • closed form solutions
  • inertial sensors
  • structure from motion
  • special case
  • differential evolution