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Published in 2022 at "IEEE Robotics and Automation Letters"
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…
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Keywords:
vio;
marginalization;
inertial odometry;
delayed marginalization ... See more keywords
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1
Published in 2022 at "IEEE Robotics and Automation Letters"
DOI: 10.1109/lra.2022.3202349
Abstract: In this letter, we propose a probabilistic continuous-time visual-inertial odometry (VIO) for rolling shutter cameras. The continuous-time trajectory formulation naturally facilitates the fusion of asynchronized high-frequency IMU data and motion-distorted rolling shutter images. To prevent…
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Keywords:
time;
continuous time;
time visual;
rolling shutter ... See more keywords