Keyframe based visual inertial odometry using nonlinear optimization

Keyframe Based Visual Inertial Odometry Using Nonlinear Optimization. Science and systems RSS. Li MKim BHMourikis AI 2013 Real-time motion tracking on a cellphone using inertial sensing and a rolling-shutter camera. We then combine these feature tracks in a keyframe-based visual-inertial odometry algorithm based on nonlinear optimization to estimate the cameras 6-DOF pose and velocity. Open Keyframe-based Visual Inertial SLAM under the terms of the BSD 3-clause license.

While an EKF is known for its efficiency it is generally less accurate than an optimization approach which is often computationally expensive. Keyframe-Based Visual-Inertial Odometry Using Nonlinear Optimizationpdf 11-06 Combining visual and inertial measurements has become popular in mobile robotics since the two sensing modalities offer complementary characteristics that make them the ideal choice for accurate Visual-Inertial Odometry or Simultaneous Localization and Mapping SLAM. Keyframe-based visualinertial odometry using nonlinear optimization Stefan Leutenegger Simon Lynen M. Contemporary tightly coupled methods for visual inertial odometry fall into two categories namely optimizationbased methods 333435 and filter-based algorithms 363738. Open Keyframe-based Visual Inertial SLAM under the terms of the BSD 3-clause license. We then combine these feature tracks in a keyframe-based visual-inertial odometry algorithm based on nonlinear optimization to estimate the cameras 6-DOF pose and velocity.

Keyframe-based visualinertial odometry using nonlinear optimization.

Stefan Leutenegger Simon Lynen Michael Bosse Roland Siegwart and Paul Timothy Furgale. Keyframe-based visual-inertial odometry using. Stefan Leutenegger Department of Computing Imperial College London 180 Queens Gate London SW7 2AZ UK. Inertial measurement unit IMU. Posted February 4 2016 by Stafan Leutenegger filed under Software. Keyframe-based visual-inertial odometry using nonlinear optimization.