Accurate Visual-Inertial SLAM by Feature Re-identification
Xiongfeng Peng,Zhihua Liu,Qiang Wang,Yun-Tae Kim,Myungjae Jeon,Hong-Seok Lee,Xiongfeng Peng,Zhihua Liu,Qiang Wang,Yun-Tae Kim,Myungjae Jeon,Hong-Seok Lee
Most of the state-of-the-art visual inertial SLAM methods pay less attention to 2D-2D and 3D-2D matching with more reliable features in a long time span, which easily results in continuous estimation drift. In this paper, we propose an efficient drift-free visual-inertial SLAM method by a pose guided feature matching method to re-identify existing features from a spatial-temporal sensitive sub-glo...