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Visual Inertial Odometry


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Visual Inertial Odometry



Estimate motion trajectory by using a monocular camera and an inertial measurement unit

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This code is still very experimental and the result depends on many factors.
For more details, please refer to our paper.

Run realDataExp.m for demos.


Zoharby/Plot Google Map inspired this file.

MATLAB release MATLAB 7.10 (R2010a)
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Comments and Ratings (7)
08 Jul 2014 Shashi

I mean to say, some dataset other than KITTI dataset.

08 Jul 2014 Shashi

Can you please send the link for the dataset on which we can apply codes similar to this and use it for comparative analysis?

02 Jun 2014 Jwu-Sheng Hu

The paper for this implementation is:
Jwu-Sheng Hu and Ming-Yuan Chen, "A Sliding-Window Visual-IMU Odometer Based on Tri-focal Tensor Geometry," 2014 IEEE International Conference on Robotics and Automation (ICRA 2014), May 31 - June 7, 2014 Hong Kong, China.

20 May 2014 mehdi

Thanks for your code.
Could you please let me know how we can run it. should we download data set before running it?
Do you have a draft or help file that can show steps?

16 Apr 2014 wu

the paper we referred is titled "Towards Consistent Visual-Inertial Navigation" by Guoquan Huang, Michael Kaess, and John J. Leonard. and another one is "Visual-Inertial Sensor Fusion:Localization, Mapping and Sensor-to-Sensor Self-calibration" by Jonathan Kelly and Gaurav S Sukhatme

15 Apr 2014 Ping

Hi, can you tell me which paper is your implementation based on ? Thank you

15 Apr 2014 Ping  

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