DM-VIO: Delayed Marginalization Visual-Inertial Odometry
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DOI: 10.1109/lra.2021.3140129
Abstract: We present DM-VIO, a monocular visual-inertial odometry system based on two novel techniques called delayed marginalization and pose graph bundle adjustment. DM-VIO performs photometric bundle adjustment with a dynamic weight for visual residuals. We adopt… read more here.
Keywords: vio; marginalization; inertial odometry; delayed marginalization ... See more keywords