OnManifold Preintegration for RealTime VisualInertial Odometry.pdf
Abstract:Currentapproachesforvisual-inertialodometry
(VIO)areabletoattainhighlyaccuratestateestimationvia
nonlinearoptimization.However,real-timeoptimizationquickly
becomesinfeasibleasthetrajectorygrowsovertime;thisproblem
isfurtheremphasizedbythefactthatinerti
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