PIPO-SLAM: Lightweight Visual-Inertial SLAM With Preintegration Merging Theory and Pose-Only Descriptions of Multiple View Geometry

Author: Ge

Year: 2024

Notes:

Classic VISLAM with pose graph optimisation
Contributions: derivation to merge pre integration factors on redundant KF and pose only implementation of SLAM
based on ORBSLAM3
Results in fewer KF and a smaller covisibility graph