Snake-SLAM: Efficient Global Visual Inertial SLAM using Decoupled Nonlinear Optimization
2021 International Conference on Unmanned Aircraft Systems (ICUAS)（2021）
Abstract
Snake-SLAM is a scalable visual inertial SLAM system for autonomous navigation in low-power aerial devices. The tracking front-end features map reuse, loop closing, relocalization, and supports monocular, stereo, and RGBD input. The keyframes are reduced by a graph-based simplification approach and further refined using a novel deferred mapping stage to ensure a sparse yet accurate global map. The...
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Key words
Measurement,Bundle adjustment,Visualization,Tracking loops,Simultaneous localization and mapping,Gyroscopes,State estimation
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