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

• DOI: 10.5244/c.25.16
• Publication Date: 2011-10-11T06:39:03Z
• Authors: Laurent Kneip; Margarita Chli; Roland Siegwart
• Keywords: Odometry; Visual Odometry

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 scalable solutions.In this paper, we present a novel framework combining the merits inertial visual data from monocular camera to accumulate estimates local motion incrementally reliably reconstruct trajectory traversed.We demonstrate robustness efficiency our methodology in scenario with challenging dynamics, comprehensive evaluation against ground-truth data.