In visual SLAM, pose estimation is performed between two adjacent frames or keyframes using feature detection and pose estitmation from corresponding features.
However in visual-inertial SLAM, pose information can be calculated from acceleroemeter and gyro. Is visual information still used to estimation poses? I have read several papers about SLAM, but authors don't mention this explicitly.
From the link:
Full 3D Pose (Scale, Rotation and Translation) Estimation using Gyro and Acceleromter sensors fusion
Pose estimation from IMU sensor is incorrect due to bias. Then IMU sensor will not help in typical situation, but only in the situation where few textures are found and feature matching won't work?