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Keyframe-Based Visual-Inertial SLAM using Nonlinear Optimization.
Stefan Leutenegger
Paul Timothy Furgale
Vincent Rabaud
Margarita Chli
Kurt Konolige
Roland Siegwart
Published in:
Robotics: Science and Systems (2013)
Keyphrases
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nonlinear optimization
bundle adjustment
starting points
optimization method
global search
mobile robot
closed form solutions
inertial sensors
structure from motion
special case
differential evolution