ABSTRACT This paper aims to correct camera pose estimation results acquired by bundle adjustment (BA) optimization in visual-inertial SLAM (VI-SLAM) approaches. By deriving the relationship between the pose estimation error and the map point biases, the pose estimation error can be further reduced after BA optimization. We then propose a correction algorithm based on a statistical bias calculation method. The method is integrated into a state-of-the-art VI-SLAM framework, and the performance of the modified system is compared with the original system on public datasets. The comparison results confirm that our approach achieves considerable improvements over the original system for absolute pose estimation. GRAPHICAL ABSTRACT

中文翻译：

---

基于地图点偏差的鱼眼相机提高VI-SLAM精度

摘要本文旨在纠正视觉惯性SLAM（VI-SLAM）方法中通过束调整（BA）优化获得的相机姿态估计结果。通过推导出位姿估计误差与地图点偏差之间的关系，BA优化后可以进一步降低位姿估计误差。然后，我们提出了一种基于统计偏差计算方法的校正算法。该方法被集成到最先进的 VI-SLAM 框架中，并在公共数据集上将修改后的系统与原始系统的性能进行比较。比较结果证实，我们的方法在绝对姿态估计的原始系统上取得了相当大的改进。图形概要