VisualInertial Monocular SLAM with Map Reuse.pdf

Abstract—Inrecentyearstherehavebeenexcellentresults inVisual-InertialOdometrytechniques,whichaimtocompute theincrementalmotionofthesensorwithhighaccuracy androbustness.Howevertheseapproacheslackthecapability tocloseloops,andtrajectoryestimationaccumulatesdrif