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MAC-I$^2$: Learned Metrics-Aware Covariance for Robust Visual-Inertial Fusion in Initialization and Calibration
Visual-Inertial (VI) fusion is fundamental to accurate and robust state estimation, where camera and IMU measurements are combined according to their respective uncertainties. Existing methods, however, fuse the two modalities with predefined uncertainties, regardless of how reliable each is in the
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