Continuous-Time Spline Visual-Inertial Odometry
Jiawei Mo,Junaed Sattar,Jiawei Mo,Junaed Sattar
We propose a continuous-time spline-based formulation for visual-inertial odometry (VIO). Specifically, we model the poses as a cubic spline, whose temporal derivatives are used to synthesize linear acceleration and angular velocity, which are compared to the measurements from the inertial measurement unit (IMU) for optimal state estimation. The spline boundary conditions create constraints betwee...
