Deep IMU Bias Inference for Robust Visual-Inertial Odometry with Factor Graphs.
Russell BuchananVarun AgrawalMarco CamurriFrank DellaertMaurice F. FallonPublished in: CoRR (2022)
Keyphrases
- factor graphs
- inertial sensors
- inference problems
- message passing
- graphical models
- belief propagation
- position and orientation
- approximate inference
- sensor fusion
- probabilistic inference
- latent variables
- exact inference
- probabilistic graphical models
- markov random field
- prior knowledge
- bayesian networks
- bayesian framework
- model construction
- kalman filter
- higher order