3 accepted papers
It holds great implications for practical applications to enable centimeter-accuracy positioning for mobile and wearable sensor systems. In this paper, we propose a novel, high-precision, efficient visual-inertial (VI)-SLAM algorithm, termed Schmidt-EKF VI-SLAM (SEVIS), which optimally fuses IMU mea…
In this paper, we propose to use unit quaternions to represent point features in visual navigation. Contrary to the Cartesian 3D representation, the unit quaternion can well represent features at both large and small distances from the camera without suffering from convergence problems. Contrary to…
In SLAM, the size of the state vector tends to grow when exploring unknown environments, causing the ever-increasing computational complexity. To reduce the computational cost, one needs to continuously marginalize part of previous states (features and/or poses). This can be achieved by using either…