Learned Uncertainty Calibration for Visual Inertial Localization
Stephanie Tsuei Stefano Soatto Paulo Tabuada Mark B. Milam Stephanie Tsuei Stefano Soatto Paulo Tabuada Mark B. Milam
The widely-used Extended Kalman Filter (EKF) provides a straightforward recipe to estimate the mean and covariance of the state given all past measurements in a causal and recursive fashion. For a wide variety of applications, the EKF is known to produce accurate estimates of the mean and typically inaccurate estimates of the covariance. For applications in visual inertial localization, we show th...