2 papers
cs.RO2020
Optimization-Based Visual-Inertial SLAM Tightly Coupled with Raw GNSS Measurements
Jinxu Liu, Wei Gao, Zhanyi Hu
Unlike loose coupling approaches and the EKF-based approaches in the literature, we propose an optimization-based visual-inertial SLAM tightly coupled with raw Global Navigation Sa…
cs.RO2020
Bidirectional Trajectory Computation for Odometer-Aided Visual-Inertial SLAM
Jinxu Liu, Wei Gao, Zhanyi Hu
Odometer-aided visual-inertial SLAM systems typically have a good performance for navigation of wheeled platforms, while they usually suffer from degenerate cases before the first…