DL-VINS-Factory: A Modular Framework for Learned Visual Front-Ends in Visual-Inertial SLAM

Shoon Kit Lim, Melissa Jia Ying Chong, Ting Yang Ling

Deep-learning features excel in visual matching, yet their practical value in tightly coupled visual-inertial SLAM (VI-SLAM) remains insufficiently characterized. We present DL-VIN…