Fusion of IMU and vision for absolute scale estimation in monocular SLAM

Journal of Intelligent and Robotic Systems: Theory and Applications

Volumn 61, Issue 1-4, 2011, Pages 287-299

  Nützi, Gabriel ^a   Weiss, Stephan ^a   Scaramuzza, Davide ^a   Siegwart, Roland ^a  

^a ETH ZURICH   (Switzerland)

Author keywords

Absolute scale; IMU vision fusion; Kalman filter; Monocular SLAM

Indexed keywords

ABSOLUTE SCALE; IMU VISION FUSION; INERTIAL SENSOR; MONOCULAR SLAM; MULTI RATE; OFFLINE; POSE ESTIMATION; REAL TIME; SCALE ESTIMATION; SCALE PARAMETER; SPLINE FITTING; TEMPORAL SYNCHRONIZATION; VISUAL DATA;

ESTIMATION; EXTENDED KALMAN FILTERS; INERTIAL NAVIGATION SYSTEMS; POSITION CONTROL; SENSORS;

MOBILE TELECOMMUNICATION SYSTEMS;

EID: 79951511307     PISSN: 09210296     EISSN: 15730409     Source Type: Journal    
DOI: 10.1007/s10846-010-9490-z     Document Type: Conference Paper

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