Unified multi-modal landmark tracking for tightly coupled lidar-visual-inertial odometry
IEEE We present an efficient multi-sensor odometry system for mobile platforms that jointly optimizes visual, lidar, and inertial information within a single integrated factor graph. This runs in real-time at full framerate using fixed lag smoothing. To perform such tight integration, a new method t...
| Main Authors: | , , , |
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| Format: | Journal article |
| Language: | English |
| Published: |
IEEE
2021
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