A marker-based method for visual-inertial initialization
Kang An,
Hao Fan,
Junyu Dong
Abstract:Accurate and robust initialization is significant for visual-inertial simultaneous localization and mapping (VI-SLAM). Existing methods solve VI-SLAM initialization based on visual information. However inertial measurement unit (IMU) parameter estimation performed underwater is subject to two major limitations. First, IMU preintegration error accumulates over time, resulting in reduced accuracy. Second, it is difficult for robots to achieve sufficient movement underwater, which affects the reliability of initi… Show more
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