Keyframe-based visual-inertial odometry using nonlinear optimization

Keyphrases

• Visual-inertial Odometry 100%
• Nonlinear Optimization 100%
• Keyframe-based 100%
• Inertial Term 66%
• Simultaneous Localization and Mapping 33%
• Mobile Robotics 33%
• Stereo 33%
• Superior Performance 33%
• Reprojection Error 33%
• Accelerometer 33%
• Inertial Measurement 33%
• Evaluation Results 33%
• Sense Modalities 33%
• Tightly Coupled 33%
• Real-time Operation 33%
• Sparsity 33%
• Reference Implementation 33%
• Complementary Characteristics 33%
• Visual Estimation 33%
• Visual Measurement 33%
• Gyroscope 33%
• Marginalization 33%
• Sliding Filter 33%
• Probabilistic Cost Analysis 33%
• Popular 33%
• Visual-inertial 33%
• Superior Accuracy 33%
• Stochastic Cloning 33%
• Stereo Visual 33%

Computer Science

• Odometry 100%
• Mobile Robotics 33%
• Superior Performance 33%
• Evaluation Result 33%
• Sliding Window 33%
• Sparsity 33%
• Reference Implementation 33%
• Simultaneous localization and mapping 33%
• Computer Hardware 33%
• Social Exclusion 33%