Combiningvisualandinertialmeasurementshasbecomepopularinmobilerobotics,sincethetwosensingmodalitiesoffercomplementarycharacteristicsthatmakethemtheidealchoiceforaccurateVisual-InertialOdometryorSimultaneousLocalizationandMapping(SLAM).Whilehistoricallytheproblemhasbeenaddressedwithfiltering,advancementsinvisualestimationsuggestthatnon-linearoptimizationofferssuperioraccuracy,whilestilltractableincomplexitythankstothesparsityoftheunderlyingproblem.Takinginspirat
                                    
                                    
                                         2025/9/2 18:16:15 
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                                            VSLAM