Binocular inertial tightly coupled SLAM algorithm based on quasi constant speed model

Xuezhang Tan; Wenpeng Zou

doi:10.1117/12.3003791

11 October 2023 Binocular inertial tightly coupled SLAM algorithm based on quasi constant speed model

Xuezhang Tan, Wenpeng Zou

Proceedings Volume 12800, Sixth International Conference on Computer Information Science and Application Technology (CISAT 2023); 128000Y (2023) https://doi.org/10.1117/12.3003791
Event: 6th International Conference on Computer Information Science and Application Technology (CISAT 2023), 2023, Hangzhou, China

Abstract

Real time positioning and map construction are the basic technologies used by global navigation satellite systems when encountering environmental map information that cannot obtain individual positions. They are a fundamental capability required for many mobile robot navigation tasks. This article utilizes the constant speed model to apply it to the adjacent relationship logic of keyframes and decouples and optimizes visual inertia to reduce the computational power of the SLAM framework and achieve lightweight algorithm.

(2023) Published by SPIE. Downloading of the abstract is permitted for personal use only.

Citation Download Citation

Xuezhang Tan and Wenpeng Zou "Binocular inertial tightly coupled SLAM algorithm based on quasi constant speed model", Proc. SPIE 12800, Sixth International Conference on Computer Information Science and Application Technology (CISAT 2023), 128000Y (11 October 2023); https://doi.org/10.1117/12.3003791

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