流程图
2018-01-07 21:43:13 0 举报流程图
作者其他创作
大纲/内容
yes
States from Loop Closure
4-DoF Pose Graph Optimization
Camera(30hz)
Visual-inertial Alignment
Loop Detected?
Feature Detection and Tracking
Local VIO with Relocalization
Measurement Preprocessing
Initialization
Keyframe?
IMU Pre-interation
Vision-only SfM
IMU(100hz)
Oldest Sliding Windows Newest
Initialized
No
Global Pose Graph Optimization
Keyframe Database
Yes
Optimization-based VIO
……
Feature Retrieval
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