SIR-SLAM: A Robust and Efficient Visual-Inertial Odometry System with IMU-RANSAC and Smooth Non-linear Optimization

Visual–inertial odometry (VIO) fuses camera and inertial measurements to enable real-time state estimation and map reconstruction. However, in low-texture scenes, under abrupt illumination changes, or in highly dynamic environments, conventional VIO pipelines often suffer from degraded accuracy and...

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Veröffentlicht in:	Journal of physics. Conference series Jg. 3055; H. 1; S. 12021 - 12030
Hauptverfasser:	Liu, Zican, Hu, Zhuhua, Zhao, Yaochi
Format:	Journal Article
Sprache:	Englisch
Veröffentlicht:	Bristol IOP Publishing 01.07.2025
Schlagworte:	Bundle adjustment Illumination Inertial guidance Real time Robustness Run time (computers) Sequences State estimation
ISSN:	1742-6588, 1742-6596
Online-Zugang:	Volltext
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