Visual-Inertial SLAM Initialization: A General Linear Formulation and a Gravity-Observing Non-Linear Optimization.
Javier Dominguez-ContiJianfeng YinYacine AlamiJavier CiveraPublished in: ISMAR (2018)
Keyphrases
- quadratic programming
- highly non linear
- special case
- optimization problems
- mobile robot
- optimization algorithm
- global optimization
- optimization method
- object and scene recognition
- computer vision
- efficient optimization
- closed form
- visual information
- optimization procedure
- closed form solutions
- visual features
- k means
- angular velocity
- representer theorem
- image segmentation