Snake-SLAM: Efficient Global Visual Inertial SLAM using Decoupled Nonlinear Optimization

2021 International Conference on Unmanned Aircraft Systems (ICUAS)（2021）

引用 7|浏览6

暂无评分

摘要

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...

查看译文

关键词

Measurement,Bundle adjustment,Visualization,Tracking loops,Simultaneous localization and mapping,Gyroscopes,State estimation

AI 理解论文

溯源树

样例

生成溯源树，研究论文发展脉络

Chat Paper

正在生成论文摘要