Visual-Inertial Odometry of Aerial Robots
arXiv:1906.03289
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.
Accepted in the Encyclopedia of Robotics, Springer
References in corpus (2)
Cited by in corpus (8)
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