Enhancing Visual Inertial SLAM with Magnetic Measurements
Bharat Joshi,Ioannis Rekleitis,Bharat Joshi,Ioannis Rekleitis
This paper presents an extension to visual inertial odometry (VIO) by introducing tightly-coupled fusion of magnetometer measurements. A sliding window of keyframes is optimized by minimizing re-projection errors, relative inertial errors, and relative magnetometer orientation errors. The results of IMU orientation propagation are used to efficiently transform magnetometer measurements between fra...
