Optimization-Based Visual-Inertial SLAM Tightly Coupled with Raw GNSS Measurements
Jinxu Liu Wei Gao Zhanyi Hu Jinxu Liu Wei Gao Zhanyi Hu
Unlike loose coupling approaches and the EKF-based approaches in the literature, we propose an optimization-based visual-inertial SLAM tightly coupled with raw Global Navigation Satellite System (GNSS) measurements, a first attempt of this kind in the literature to our knowledge. More specifically, reprojection error, IMU pre-integration error and raw GNSS measurement error are jointly minimized w...