This paper presents a Visual Inertial Odometry Landmark-based Simultaneous Localisation and Mapping algorithm based on a distributed block coordinate nonlinear Moving Horizon Estimation scheme. The main advantage of the proposed method is that the updates on the position of the landmarks are based on a Bundle Adjustment technique that can be parallelised over the landmarks. The performance of the method is demonstrated in simulations in different environments and with different types of robot trajectory. Circular and wiggling patterns in the trajectory lead to better estimation performance than straight ones, confirming what is expected from recent nonlinear observability theory.

翻译：本文提出了一种基于分布式块坐标非线性移动视界估计方案的视觉惯性里程计地标同步定位与地图构建算法。该方法的主要优势在于，基于地标的优化更新采用了可在地标间并行化的光束法平差技术。通过在不同环境及不同机器人轨迹类型下的仿真实验，验证了该方法的性能。轨迹中的圆形和摆动模式相比直线轨迹能带来更优的估计性能，这证实了近期非线性可观测性理论的预期结果。