Visual-Inertial Monocular SLAM with Map Reuse.pdf
Abstract—InrecentyearstherehavebeenexcellentresultsinVisual-InertialOdometrytechniques,whichaimtocomputetheincrementalmotionofthesensorwithhighaccuracyandrobustness.Howevertheseapproacheslackthecapabilitytocloseloops,andtrajectoryestimationaccumulatesdriftevenifthesensoriscontinuallyre
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