ES-ATRK: A Global Bundle Adjustment Initialisation Method for Event-Based Stereo Visual Inertial SLAM System Using Adaptive Threshold Robust Kernel Functions

To address the issues of insufficient robustness, large depth recovery errors, and poor scene adaptability currently present in the initialisation phase of event-based stereo visual inertial SLAM systems, we propose a global BA initialisation method based on an adaptive threshold robust kernel funct...

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Autori principali:	Junyang Zhao, Han Yu, Zhili Zhang, Yaru Li, Huixin Zhu, Xingxu Yan, Jiayi Wang
Natura:	Artigo
Lingua:	Inglês
Pubblicazione:	MDPI AG 2026-05-01
Serie:	Sensors
Soggetti:	event-based stereo visual inertial SLAM systems global bundle adjustment robust kernels adaptive threshold ES-ATRK algorithm reprojection residuals
Accesso online:	https://www.mdpi.com/1424-8220/26/10/3014
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