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OnManifold Preintegration for RealTime VisualInertial Odometry.pdf

上传者: 2020-05-31 16:58:44上传 PDF文件 3.5MB 热度 23次
Abstract:Currentapproachesforvisual-inertialodometry (VIO)areabletoattainhighlyaccuratestateestimationvia nonlinearoptimization.However,real-timeoptimizationquickly becomesinfeasibleasthetrajectorygrowsovertime;thisproblem isfurtheremphasizedbythefactthatinerti
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