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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...

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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

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