Monocular Visual-Inertial SLAM: Continuous Preintegration and Reliable Initialization

Monocular Visual-Inertial SLAM: Continuous Preintegration and Reliable Initialization

In this paper, we propose a new visual-inertial Simultaneous Localization and Mapping (SLAM) algorithm. With the tightly coupled sensor fusion of a global shutter monocular camera and a low-cost Inertial Measurement Unit (IMU), this algorithm is able to achieve robust and real-time estimates of the...

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Bibliographic Details
Main Authors: Yi Liu, Zhong Chen, Wenjuan Zheng, Hao Wang, Jianguo Liu
Format: Article
Language:English
Published: MDPI AG 2017-11-01
Series:Sensors
Subjects:
sensor fusion
SLAM
computer vision
inertial navigation
tightly coupled
Online Access:https://www.mdpi.com/1424-8220/17/11/2613

Internet

https://www.mdpi.com/1424-8220/17/11/2613

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