In Defense of the Eight-Point Algorithm
IEEE Transactions on Pattern Analysis and Machine Intelligence
Matrix analysis and applied linear algebra
Matrix analysis and applied linear algebra
Structure from Motion Causally Integrated Over Time
IEEE Transactions on Pattern Analysis and Machine Intelligence
An Efficient Solution to the Five-Point Relative Pose Problem
IEEE Transactions on Pattern Analysis and Machine Intelligence
Real-time implementation of airborne inertial-SLAM
Robotics and Autonomous Systems
MonoSLAM: Real-Time Single Camera SLAM
IEEE Transactions on Pattern Analysis and Machine Intelligence
Fast Ego-motion Estimation with Multi-rate Fusion of Inertial and Vision
International Journal of Robotics Research
Simultaneous Motion and Structure Estimation by Fusion of Inertial and Vision Data
International Journal of Robotics Research
Aided Navigation: GPS with High Rate Sensors
Aided Navigation: GPS with High Rate Sensors
Visual-Inertial Sensor Fusion: Localization, Mapping and Sensor-to-Sensor Self-calibration
International Journal of Robotics Research
Visual-inertial navigation, mapping and localization: A scalable real-time causal approach
International Journal of Robotics Research
Monocular-SLAM–based navigation for autonomous micro helicopters in GPS-denied environments
Journal of Field Robotics
IEEE Transactions on Robotics
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This paper investigates the visual-inertial structure from motion problem. A simple closed form solution to this problem is introduced. Special attention is devoted to identify the conditions under which the problem has a finite number of solutions. Specifically, it is shown that the problem can have a unique solution, two distinct solutions and infinite solutions depending on the trajectory, on the number of point-features and on their layout and on the number of camera images. The investigation is also performed in the case when the inertial data are biased, showing that, in this latter case, more images and more restrictive conditions on the trajectory are required for the problem resolvability.