IEEE Transactions on Robotics· 2018Q1
VINS-Mono: A Robust and Versatile Monocular Visual-Inertial State Estimator
- 4,463citations
- Q1SCImago
- 2018year
Short summary
VINS-Mono is a new monocular visual-inertial state estimator that achieves high accuracy by tightly coupling IMU measurements with feature observations using nonlinear optimization. It also incorporates loop detection and pose graph optimization for global consistency and map reuse.
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