Map-based Visual-Inertial Localization: A Numerical Study
Patrick Geneva,Guoquan Huang,Patrick Geneva,Guoquan Huang
We revisit the problem of efficiently leveraging prior map information within a visual-inertial estimation framework. The use of traditional landmark-based maps with 2D-to-3D measurements along with the recently introduced keyframe-based maps with 2D-to-2D measurements are inves-tigated. The full joint estimation of the prior map is compared within a visual-inertial simulator to the Schmidt-Kalman...
