A Binocular Vision/IMU MSCKF Localization Method Considering Dynamic Initialization and Loopback Detection
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DOI: 10.1109/jsen.2024.3487980
Abstract: Addressing the issue of excessive error accumulation in visual-inertial odometry under complex and adverse environments, leading to degraded positioning accuracy or even failure, this article proposes a dual-camera visual/inertial measurement unit (IMU) multistate constraint Kalman… read more here.
Keywords: detection; dynamic initialization; positioning accuracy; msckf ... See more keywords