Visual-Inertial SLAM with Tightly-Coupled Dropout-Tolerant GPS Fusion
Simon Boche,Xingxing Zuo,Simon Schaefer,Stefan Leutenegger,Simon Boche,Xingxing Zuo,Simon Schaefer,Stefan Leutenegger
Robotic applications are continuously striving towards higher levels of autonomy. To achieve that goal, a highly robust and accurate state estimation is indispensable. Combining visual and inertial sensor modalities has proven to yield accurate and locally consistent results in short-term applications. Unfortunately, visual-inertial state estimators suffer from the accumulation of drift for long-t...
