Name
Abstract | ||
|---|---|---|
We formulate for the first time visual-inertial initialization as an optimal estimation problem, in the sense of maximum-a-posteriori (MAP) estimation. This allows us to properly take into account IMU measurement uncertainty, which was neglected in previous methods that either solved sets of algebraic equations, or minimized ad-hoc cost functions using least squares. Our exhaustive initialization tests on EuRoC dataset show that our proposal largely outperforms the best methods in the literature, being able to initialize in less than 4 seconds in almost any point of the trajectory, with a scale error of 5.3% on average. This initialization has been integrated into ORB-SLAM Visual-Inertial boosting its robustness and efficiency while maintaining its excellent accuracy. |
Year | DOI | Venue |
|---|---|---|
2020 | 10.1109/ICRA40945.2020.9197334 | 2020 IEEE International Conference on Robotics and Automation (ICRA) |
Keywords | DocType | Volume |
EuRoC dataset show,time visual-inertial initialization,optimal estimation problem,maximum-a-posteriori estimation,algebraic equations,ad-hoc cost functions,ORB-SLAM visual-inertial boosting,inertial-only optimization,IMU measurement uncertainty,MAP estimation,least squares | Conference | 2020 |
Issue | ISSN | ISBN |
1 | 1050-4729 | 978-1-7281-7396-2 |
Citations | PageRank | References |
3 | 0.43 | 9 |
Authors | ||
3 | ||
Name | Order | Citations | PageRank |
|---|---|---|---|
| Carlos Campos | 1 | 38 | 5.14 |
| Montiel José M. M. | 2 | 24 | 1.65 |
| Juan Domingo | 3 | 3319 | 258.54 |