ICE-BA: Incremental, Consistent and Efficient Bundle Adjustment for Visual-Inertial SLAM

Modern visual-inertial SLAM (VI-SLAM) achieves higher accuracy and robustness than pure visual SLAM, thanks to the complementariness of visual features and inertial measurements. However, jointly using visual and inertial measurements to optimize SLAM objective functions is a problem of high computational complexity... (read more)

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