Some optimisation-based tightly-coupled multisensor SLAM algorithms

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Source: Wu 2018

  • Uses nonlinear optimization
  • may potentially achieve higher accuracy due to the capability to limit linearization errors through repeated linearization of the inherently nonlinear problem
  • [117] Forster 2017 : preintegration theory
  • [118] OKVIS: a novel approach
    • to tightly integrate visual measurements with IMU
    • optimise a joint nonlinear cost function that integrates an IMU error term with the landmark reprojection error in a fully probabilistic manner
    • real-time operation: old states are marginalized to maintain a bounded-sized optimization window
  • Li et al. [119] proposed tightly coupled, optimization based, monocular visual-inertial state estimation for camera localization in complex environments. This method can run on mobile devices with a lightweight loop closure .
  • VIORB  a tightly coupled visual-inertial slam system was proposed, following ORBSLAM monocular SLAM