Interval-based Visual-Inertial LiDAR SLAM with Anchoring Poses
Aaronkumar Ehambram,Raphael Voges,Claus Brenner,Bernardo Wagner,Aaronkumar Ehambram,Raphael Voges,Claus Brenner,Bernardo Wagner
We present a novel interval-based visual-inertial LiDAR SLAM (i-VIL SLAM) method that solely assumes sensor errors to be bounded and propagates the error from the input sources to the estimated map and trajectory using interval analysis. The method allows us to restrict the solution set of the robot poses and the position of the landmarks to the set that is consistent with the measurements. If the...
