A Resilient Method for Visual–Inertial Fusion Based on Covariance Tuning
A Resilient Method for Visual–Inertial Fusion Based on Covariance Tuning
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Publisher
Switzerland: MDPI AG
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Language
English
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Switzerland: MDPI AG
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Contents
To improve localization and pose precision of visual–inertial simultaneous localization and mapping (viSLAM) in complex scenarios, it is necessary to tune the weights of the visual and inertial inputs during sensor fusion. To this end, we propose a resilient viSLAM algorithm based on covariance tuning. During back-end optimization of the viSLAM pro...
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Full title
A Resilient Method for Visual–Inertial Fusion Based on Covariance Tuning
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TN_cdi_doaj_primary_oai_doaj_org_article_5924829004da431b9cf07918e5b70f25
Permalink
https://devfeature-collection.sl.nsw.gov.au/record/TN_cdi_doaj_primary_oai_doaj_org_article_5924829004da431b9cf07918e5b70f25
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ISSN
1424-8220
E-ISSN
1424-8220
DOI
10.3390/s22249836
