Abstract: In visual-inertial simultaneous localization and mapping (VI-SLAM), visual residuals are typically formulated using multiview geometry, parameterizing both camera poses and scene feature ...

Get the Microsoft Visual Studio Professional 2022 and the Premium Learn to Code Certification Bundle for only $39.97 (MSRP $1,999).

Abstract: The pose-only Kalman filter (PO-KF) for visual-inertial odometry (VIO) has demonstrated comparable localization accuracy to optimization-based systems while retaining the computational ...