José M.M. Montiel

2 accepted papers

2020

Inertial-Only Optimization for Visual-Inertial Initialization

Carlos Campos, José M.M. Montiel, Juan D. Tardós

ICRA 2020poster

We formulate for the first time visual-inertial initialization as an optimal estimation problem, in the sense of maximum-a-posteriori (MAP) estimation. This allows us to properly take into account IMU measurement uncertainty, which was neglected in previous methods that either solved sets of algebra…

Cited by 102 Source ↗Scholar ↗

2019

Fast and Robust Initialization for Visual-Inertial SLAM

Carlos Campos, José M.M. Montiel, Juan D. Tardós

ICRA 2019poster

Visual-inertial SLAM (VI-SLAM) requires a good initial estimation of the initial velocity, orientation with respect to gravity and gyroscope and accelerometer biases. In this paper we build on the initialization method proposed by Martinelli [1] and extended by Kaiser et al. [2], modifying it to be…

Cited by 44 Source ↗Scholar ↗