ASPIRE-VINS: Adaptive Spline-based Visual-inertial Navigation System With Robust 3D Measurement Residuals

Kwangyik Jung, Eungchang Mason Lee, Taekjun Oh +1

Visual-inertial navigation systems estimate six-degree-of-freedom motion by fusing visual and inertial data. Modern discrete-time methods with IMU preintegration provide strong acc…