文件名称：Design and Algorithms for Efficient and Robust Autonomous Operation
文件大小：7.18MB
文件格式：PDF
更新时间：2021-06-30 16:49:57
OKVIS: Open Keyframe-based Visual-Inertial SLAM estimation algorithm complements the inertial module with visual cues: the combination has gained increasing attention lately since it enables accurate state estimation as well as situational awareness. We chose an approach to fuse the landmark reprojection error with inertial terms in nonlinear optimization. The concept of keyframes is implemented by resorting to marginalization, i.e. partial linearization and variable elimination, in order to keep the optimization problem bounded—while it may still span a long time interval.