Monocular Visual-Inertial SLAM: Continuous Preintegration and Reliable Initialization

In this paper, we propose a new visual-inertial Simultaneous Localization and Mapping (SLAM) algorithm. With the tightly coupled sensor fusion of a global shutter monocular camera and a low-cost Inertial Measurement Unit (IMU), this algorithm is able to achieve robust and real-time estimates of the...

Descripción completa

Detalles Bibliográficos
Autores principales: Liu, Yi, Chen, Zhong, Zheng, Wenjuan, Wang, Hao, Liu, Jianguo
Formato: Online Artículo Texto
Lenguaje:English
Publicado: MDPI 2017
Materias:
Article
Acceso en línea:https://www.ncbi.nlm.nih.gov/pmc/articles/PMC5712814/
https://www.ncbi.nlm.nih.gov/pubmed/29135966
http://dx.doi.org/10.3390/s17112613

Internet

https://www.ncbi.nlm.nih.gov/pmc/articles/PMC5712814/
https://www.ncbi.nlm.nih.gov/pubmed/29135966
http://dx.doi.org/10.3390/s17112613

Ejemplares similares