BA-LIOM: tightly coupled laser-inertial odometry and mapping with bundle adjustment.
Ruyi LiXuebo ZhangShiyong ZhangJing YuanHui LiuSongyang WuPublished in: Robotica (2024)
Keyphrases
- tightly coupled
- bundle adjustment
- structure from motion
- fine grained
- multi view
- camera parameters
- camera motion
- general purpose
- loosely coupled
- least squares
- point correspondences
- nonlinear optimization
- levenberg marquardt
- loop closure
- inertial sensors
- reprojection error
- visual slam
- scene reconstruction
- camera pose
- motion estimates
- camera calibration
- maximum likelihood
- visual odometry
- image sequences
- stereo rig
- missing data
- camera motion estimation
- computer vision
- essential matrices
- multiple views
- high quality
- web services