  This paper proposes an innovative state estimation method for visual-inertial
fusion based on Chebyshev polynomial optimization. Specifically, the pose is
modeled as a Chebyshev polynomial of a certain order, and its time derivatives
are used to calculate linear acceleration and angular velocity, which, along
with inertial measurements, constitute dynamic constraints. This is coupled
with a visual measurement model to construct a visual-inertial bundle
adjustment formulation. Simulation and public dataset experiments show that the
proposed method has better accuracy than the discrete-form preintegration
method.
