Backend Optimization Techniques for Visual-Inertial Odometry
This document details backend optimization strategies, focusing on manual implementation of the non-linear least squares solver. We address common issues like the H (Hessian) matrix being rank-deficient and discuss methods for constructing and solving the linear system efficiently.
Non-linear Least Squares Solver Flow
Handling Rank-Deficient H ...
Posted on Tue, 28 Jul 2026 17:22:59 +0000 by XeroXer