A pose correction method that estimates map point bias from optical flow and compensates the camera pose can reduce trajectory error in visual-inertial SLAM.
A Monocular SLAM System Lever- aging Structural Regularity in Manhattan World
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Camera Pose Correction in SLAM Based on Bias Values of Map Points
A pose correction method that estimates map point bias from optical flow and compensates the camera pose can reduce trajectory error in visual-inertial SLAM.