Inertial preintegration for VI-SLAM by the screw motion theory.
Nassim BessaadQilian BaoJiankang ZhaoNardjess BenoudinaShuodong SunXuwei ZhangPublished in: J. Field Robotics (2023)
Keyphrases
- space time
- image sequences
- mobile robot
- motion estimation
- real time
- optical flow
- motion model
- visual odometry
- simultaneous localization and mapping
- camera motion
- motion capture
- dynamic model
- angular velocity
- general theory
- ground plane
- motion parameters
- human motion
- motion analysis
- kalman filter
- path planning
- theoretical framework
- vision system
- spatio temporal
- object recognition