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Absolute humanoid localization and mapping based on IMU Lie group and fiducial markers

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Academic year: 2021

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Fig. 1: A typical fraction of the factor graph, involving state blocks corresponding to keyframes x i = (p i , v i , R i ), biases b i and landmark poses l n
Fig. 3: The pre-integrated delta ∆ ij ∈ D contains all motion increments from time i up to time j
Fig. 4: Kinematic chain of the reference frames involved in one tag observation and their transforms T ∈ SE(3)
Fig. 5: Two loops of the experimental field with camera in hand TABLE I: Datasets description and results
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