Tightly-coupled Fusion of Global Positional Measurements in Optimization-based Visual-Inertial Odometry
Giovanni Cioffi,Davide Scaramuzza,Giovanni Cioffi,Davide Scaramuzza
Motivated by the goal of achieving robust, drift-free pose estimation in long-term autonomous navigation, in this work we propose a methodology to fuse global positional information with visual and inertial measurements in a tightly-coupled nonlinear-optimization-based estimator. Differently from previous works, which are loosely-coupled, the use of a tightly-coupled approach allows exploiting the...
