Instruct: Identify the main and secondary category of Arxiv papers based on the titles and abstracts
Query: Tightly Coupled Optimization-based GPS-Visual-Inertial Odometry with
  Online Calibration and Initialization   In this paper, we present a tightly coupled optimization-based
GPS-Visual-Inertial odometry system to solve the trajectory drift of the
visual-inertial odometry especially over long-term runs. Visual reprojection
residuals, IMU residuals, and GPS measurement residuals are jointly minimized
within a local bundle adjustment, in which we apply GPS measurements and IMU
preintegration used for the IMU residuals to formulate a novel GPS residual. To
improve the efficiency and robustness of the system, we propose a fast
reference frames initialization method and an online calibration method for
GPS-IMU extrinsic and time offset. In addition, we further test the performance
and convergence of our online calibration method. Experimental results on EuRoC
datasets show that our method consistently outperforms other tightly coupled
and loosely coupled approaches. Meanwhile, this system has been validated on
KAIST datasets, which proves that our system can work well in the case of
visual or GPS failure.

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The categories of this paper are: cond-mat
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The categories of this paper are: hep-ex
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The categories of this paper are: chao-dyn
2
The categories of this paper are: math
35
The categories of this paper are: mtrl-th
15
The categories of this paper are: nucl-ex
33
The categories of this paper are: plasm-ph
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The categories of this paper are: hep-lat
34
The categories of this paper are: chem-ph
32
The categories of this paper are: atom-ph
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The categories of this paper are: q-fin
37
The categories of this paper are: supr-con
31
The categories of this paper are: ao-sci
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The categories of this paper are: funct-an
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The categories of this paper are: solv-int
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The categories of this paper are: acc-phys