Visual-Inertial Monocular SLAM With Map Reuse
Visual-Inertial Monocular SLAM With Map Reuse
In recent years there have been excellent results in Visual-Inertial Odometry techniques, which aim to compute the incremental motion of the sensor with high accuracy and robustness. However these approaches lack the capability to close loops, and trajectory estimation accumulates drift even if the sensor is continually revisiting the same …