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Keyframe-Based Visual-Inertial SLAM using Nonlinear Optimization
Robotics: Science and Systems IX
The fusion of visual and inertial cues has become popular in robotics due to the complementary nature of the two sensing modalities. While most fusion strategies to date rely on filtering schemes, the visual robotics community has recently turned to non-linear optimization approaches for tasks such as visual Simultaneous Localization And Mapping (SLAM), following the discovery that this comes with significant advantages in quality of performance and computational complexity. Following thisdoi:10.15607/rss.2013.ix.037 dblp:conf/rss/LeuteneggerFRCKS13 fatcat:hytzhsyh2rac7pca5xzorxwyny