Inertial-Only Optimization for Visual-Inertial Initialization
Carlos Campos,José M.M. Montiel,Juan D. Tardós,Carlos Campos,José M.M. Montiel,Juan D. Tardós
We formulate for the first time visual-inertial initialization as an optimal estimation problem, in the sense of maximum-a-posteriori (MAP) estimation. This allows us to properly take into account IMU measurement uncertainty, which was neglected in previous methods that either solved sets of algebraic equations, or minimized ad-hoc cost functions using least squares. Our exhaustive initialization ...
