On-Manifold Preintegration for Real-Time Visual-Inertial Odometry.

Christian Forster Luca Carlone Frank Dellaert Davide Scaramuzza

Published in: IEEE Trans. Robotics (2017)

Keyphrases

inertial sensors
real time
sensor fusion
position and orientation
motion tracking
markerless
euclidean space
visual odometry
low cost
high speed
low dimensional
visual information
feature space
visual features
shape analysis
dynamic model