MAVIS: Multi-Camera Augmented Visual-Inertial SLAM using SE2(3) Based Exact IMU Pre-integration
Yifu Wang,Yonhon Ng,Inkyu Sa,Álvaro Parra,Cristian Rodriguez-Opazo,Taojun Lin,Hongdong Li,Yifu Wang,Yonhon Ng,Inkyu Sa,Álvaro Parra,Cristian Rodriguez-Opazo,Taojun Lin,Hongdong Li
We present a novel optimization-based Visual-Inertial SLAM system designed for multiple partially over-lapped camera systems, named MAVIS. Our framework fully exploits the benefits of wide field-of-view from multi-camera systems, and the metric scale measurements provided by an inertial measurement unit (IMU). We introduce an improved IMU pre-integration formulation based on the exponential functi...
