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On the Comparison of Gauge Freedom Handling in Optimization-Based Visual-Inertial State Estimation

  • Authors: Zhang, Zichao; Gallego, Guillermo; Scaramuzza, Davide

  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 …

Posted on: June 12, 2018