VINS-Mono: A Robust and Versatile Monocular Visual-Inertial State Estimator
نویسندگان
چکیده
منابع مشابه
VINS-Mono: A Robust and Versatile Monocular Visual-Inertial State Estimator
A monocular visual-inertial system (VINS), consisting of a camera and a low-cost inertial measurement unit (IMU), forms the minimum sensor suite for metric six degreesof-freedom (DOF) state estimation. However, the lack of direct distance measurement poses significant challenges in terms of IMU processing, estimator initialization, extrinsic calibration, and nonlinear optimization. In this work...
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ژورنال
عنوان ژورنال: IEEE Transactions on Robotics
سال: 2018
ISSN: 1552-3098,1941-0468
DOI: 10.1109/tro.2018.2853729