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On the Comparison of Gauge Freedom Handling in Optimization-Based Visual-Inertial State Estimation.
Zichao Zhang
Guillermo Gallego
Davide Scaramuzza
Published in:
IEEE Robotics Autom. Lett. (2018)
Keyphrases
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state estimation
kalman filter
extended kalman filter
kalman filtering
particle filter
state space model
dynamic systems
visual tracking
visual features
inertial sensors
visual information
active vision
particle filtering
low level
multiscale
dynamic model
object tracking
data fusion
signal processing