Analytic Combined IMU Integration (ACI2) For Visual Inertial Navigation
Yulin Yang,Benzun Pious Wisely Babu,Chuchu Chen,Guoquan Huang,Liu Ren,Yulin Yang,Benzun Pious Wisely Babu,Chuchu Chen,Guoquan Huang,Liu Ren
Batch optimization based inertial measurement unit (IMU) and visual sensor fusion enables high rate localization for many robotic tasks. However, it remains a challenge to ensure that the batch optimization is computationally efficient while being consistent for high rate IMU measurements without marginalization. In this paper, we derive inspiration from maximum likelihood estimation with partial-...
