Robust Real-Time Visual Odometry with a Single Camera and an IMU

被引：109
|
作者：
Kneip, Laurent [1 ]
Chli, Margarita [1 ]
Siegwart, Roland [1 ]
机构：
[1] Swiss Fed Inst Technol, Autonomous Syst Lab, Zurich, Switzerland
来源：
PROCEEDINGS OF THE BRITISH MACHINE VISION CONFERENCE 2011 | 2011年
关键词：
IMAGE;
D O I：
10.5244/C.25.16
中图分类号：
TP18 [人工智能理论];
学科分类号：
081104 ; 0812 ; 0835 ; 1405 ;
摘要：
The increasing demand for real-time high-precision Visual Odometry systems as part of navigation and localization tasks has recently been driving research towards more versatile and scalable solutions. In this paper, we present a novel framework for combining the merits of inertial and visual data from a monocular camera to accumulate estimates of local motion incrementally and reliably reconstruct the trajectory traversed. We demonstrate the robustness and efficiency of our methodology in a scenario with challenging camera dynamics, and present a comprehensive evaluation against ground-truth data.
引用
收藏
页数：11
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