Jesse Bloecker

Multi-Camera Visual-Inertial Navigation with Online Intrinsic and Extrinsic Calibration

This paper presents a general multi-camera visual-inertial navigation system (mc-VINS) with online instrinsic and extrinsic calibration, which is able to utilize all the information from an arbitrary number of asynchronous cameras. In particular, within the standard multi-state constraint Kalman Fil…