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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.


Plot Google Map inspired this file.

MATLAB release MATLAB 7.10 (R2010a)
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Comments and Ratings (3)
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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