Design and Algorithms for Efficient and Robust Autonomous Operation
OKVIS:OpenKeyframe-basedVisual-InertialSLAM
estimationalgorithmcomplementstheinertialmodulewithvisualcues:
thecombinationhasgainedincreasingattentionlatelysinceitenablesaccuratestate
estimationaswellassituationalawareness.Wechoseanapproachtofusethelandmark
reproje
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