Web: http://arxiv.org/abs/2201.04114

Jan. 12, 2022, 2:10 a.m. | Lukas von Stumberg, Daniel Cremers

cs.CV updates on arXiv.org arxiv.org

We present DM-VIO, a monocular visual-inertial odometry system based on two
novel techniques called delayed marginalization and pose graph bundle
adjustment. DM-VIO performs photometric bundle adjustment with a dynamic weight
for visual residuals. We adopt marginalization, which is a popular strategy to
keep the update time constrained, but it cannot easily be reversed, and
linearization points of connected variables have to be fixed. To overcome this
we propose delayed marginalization: The idea is to maintain a second factor
graph, where marginalization is delayed. This allows us to later readvance this …

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