A continuous-time visual-inertial backend with adaptive knot placement, multi-resolution splines, and 3D ray-orthogonal residuals achieves the lowest mean trajectory RMSE among compared baselines on several datasets.
Continuous- time visual-inertial odometry for event cameras,
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ASPIRE-VINS: Adaptive Spline-based Visual-inertial Navigation System With Robust 3D Measurement Residuals
A continuous-time visual-inertial backend with adaptive knot placement, multi-resolution splines, and 3D ray-orthogonal residuals achieves the lowest mean trajectory RMSE among compared baselines on several datasets.