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Visual-Inertial Odometry of Aerial Robots
June 07, 2019 Β· Declared Dead Β· π arXiv.org
"No code URL or promise found in abstract"
Evidence collected by the PWNC Scanner
Authors
Davide Scaramuzza, Zichao Zhang
arXiv ID
1906.03289
Category
cs.RO: Robotics
Citations
73
Venue
arXiv.org
Last Checked
5 months ago
Abstract
Visual-Inertial odometry (VIO) is the process of estimating the state (pose and velocity) of an agent (e.g., an aerial robot) by using only the input of one or more cameras plus one or more Inertial Measurement Units (IMUs) attached to it. VIO is the only viable alternative to GPS and lidar-based odometry to achieve accurate state estimation. Since both cameras and IMUs are very cheap, these sensor types are ubiquitous in all today's aerial robots.
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