Kneip, Laurent; Weiss, Stephan; Siegwart, Roland
In this work, we present a novel, deterministic closed-form solution for computing the scale factor and the gravity direction of a moving, loosely-coupled, and monocular vision-inertial system. The methodology is based on analysing delta-velocities. On one hand, they are obtained from a differentiation of the up-to-scale camera pose computation by a visual odometry or visual SLAM algorithm. On the other hand, they can also be retrieved from the gravity-affected short-term integration of...[Show more]
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