[PDF][PDF] On-manifold preintegration theory for fast and accurate visual-inertial navigation
Current approaches for visual-inertial navigation (VIN) are able to attain highly accurate
state estimation via nonlinear optimization. However, real-time optimization quickly becomes …
state estimation via nonlinear optimization. However, real-time optimization quickly becomes …
[PDF][PDF] On-Manifold Preintegration Theory for Fast and Accurate Visual-Inertial Navigation
C Forster, L Carlone, F Dellaert, D Scaramuzza - kvmanohar22.github.io
1 Method–The method proposes a way to summarize multiple inertial measurements into
one single constraint. The idea of preintegration has been proposed earlier in [1]. The …
one single constraint. The idea of preintegration has been proposed earlier in [1]. The …