Jade Coulin

Tightly-Coupled Magneto-Visual-Inertial Fusion for Long Term Localization in Indoor Environment

We propose in this letter a tightly-coupled fusion of visual, inertial and magnetic data for long-term localization in indoor environment. Unlike state-of-the-art Visual-Inertial SLAM (VISLAM) solutions that reuse visual map to prevent drift, we present in this letter an extension of the Multi-State