PO-MSCKF: An Efficient Visual-Inertial Odometry by Reconstructing the Multi-State Constrained Kalman Filter with the Pose-only Theory

Xueyu Du, Lilian Zhang, Ruochen Liu +3

Efficient Visual-Inertial Odometry (VIO) is crucial for payload-constrained robots. Though modern optimization-based algorithms have achieved superior accuracy, the MSCKF-based VIO…