Visual-inertial state estimation based on Chebyshev polynomial optimization
<|reference_start|>Visual-inertial state estimation based on Chebyshev polynomial optimization: This paper proposes an innovative state estimation method for visual-inertial fusion based on Chebyshev polynomial optimization. Specifically, the pose is modeled as a Chebyshev polynomial of a certain order, and its time derivatives are used to calculate linear acceleration and angular velocity, which, along with inertial measurements, constitute dynamic constraints. This is coupled with a visual measurement model to construct a visual-inertial bundle adjustment formulation. Simulation and public dataset experiments show that the proposed method has better accuracy than the discrete-form preintegration method.<|reference_end|>
@article{zhang2024visual-inertial,
    title={Visual-inertial state estimation based on Chebyshev polynomial
  optimization},
    author={Hongyu Zhang, Maoran Zhu, Qi Cai, Yuanxin Wu},
    journal={arXiv preprint arXiv:2404.01150},
    year={2024},
    archivePrefix={arXiv},
    eprint={2404.01150},
    primaryClass={cs.RO}
}