IEEE RA-L

ASPIRE-VINS: Adaptive Spline-based Visual-inertial Navigation System With Robust 3D Measurement Residuals

ASPIRE-VINS：具有鲁棒3D测量残差的自适应样条视觉-惯性导航系统

Kwangyik Jung, Eungchang Mason Lee, Taekjun Oh, Hyun Myung

AI总结 ASPIRE-VINS是结合AKP、MRS与3D-MSR的连续时间VINS框架，可自适应轨迹节点分配，在多样运动与传感条件下实现更低或相当的轨迹误差，提升视觉-惯性导航的灵活性与精度。

Comments 8 pages, 5 figures. Accepted for publication in IEEE Robotics and Automation Letters (RA-L), June 2026

Journal ref IEEE Robotics and Automation Letters, vol. 11, no. 9, pp. 10625-10632, 2026