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Inertial-Only Optimization for Visual-Inertial Initialization
Carlos Campos, José M. M. Montiel, Juan D. Tardós
We formulate for the first time visual-inertial initialization as an optimal estimation problem, in the sense of maximum-a-posteriori (MAP) estimation. This allows us to properly t…
Real-time Monocular Object SLAM
Dorian Gálvez-López, Marta Salas, Juan D. Tardós +1
We present a real-time object-based SLAM system that leverages the largest object database to date. Our approach comprises two main components: 1) a monocular SLAM algorithm that e…
ORB-SLAM: a Versatile and Accurate Monocular SLAM System
Raul Mur-Artal, J. M. M. Montiel, Juan D. Tardos
This paper presents ORB-SLAM, a feature-based monocular SLAM system that operates in real time, in small and large, indoor and outdoor environments. The system is robust to severe…