David Vissière

Robust indoor/outdoor navigation through magneto-visual-inertial optimization-based estimation

This paper aims to leverage magnetic information from a Magneto-Inertial Measurement Unit - an IMU sensor augmented with an array of magnetometers, called MIMU hereafter - in a vision/inertial navigation system (VINS). This ego-motion estimation problem is formulated as an optimization over a slidin…