Publication: On the Comparison of Gauge Freedom Handling in Optimization-Based Visual-Inertial State Estimation
On the Comparison of Gauge Freedom Handling in Optimization-Based Visual-Inertial State Estimation
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Zhang, Z., Gallego, G., & Scaramuzza, D. (2019). On the Comparison of Gauge Freedom Handling in Optimization-Based Visual-Inertial State Estimation. IEEE Robotics and Automation Letters, 3(3), 2710–2717. https://doi.org/10.1109/lra.2018.2833152
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It is well known that visual-inertial state estimation is possible up to a four degrees-of-freedom (DoF) transformation (rotation around gravity and translation), and the extra DoFs (“gauge freedom”) have to be handled properly. While different approaches for handling the gauge freedom have been used in practice, no previous study has been carried out to systematically analyze their differences. In this paper, we present the first comparative analysis of different methods for handling the gauge freedom in optimization-based visual-ine
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- Zhang, Zichao
- Gallego, Guillermo
- Scaramuzza, Davide
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Zhang, Z., Gallego, G., & Scaramuzza, D. (2019). On the Comparison of Gauge Freedom Handling in Optimization-Based Visual-Inertial State Estimation. IEEE Robotics and Automation Letters, 3(3), 2710–2717. https://doi.org/10.1109/lra.2018.2833152
