DM-VIO: Delayed Marginalization Visual-Inertial Odometry

We present DM-VIO, a monocular visual-inertial odometry system based on two novel techniques called delayed marginalization and pose graph bundle adjustment. DM-VIO performs photometric bundle adjustment with a dynamic weight for visual residuals. We adopt marginalization, which is a popular strateg...

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Veröffentlicht in:	IEEE robotics and automation letters 2022-04, Vol.7 (2), p.1408-1415
Hauptverfasser:	Stumberg, Lukas von, Cremers, Daniel
Format:	Artikel
Sprache:	eng
Schlagworte:	Bundle adjustment Gravity Linear systems Linearization Photometry Simultaneous localization and mapping SLAM Social exclusion Uncertainty Vehicle dynamics Visual-Inertial SLAM Visualization
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