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Visual Inertial Odometry

version 1.0 (11 MB) by

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

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10 Ratings

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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.

Comments and Ratings (20)

xu lida

Yiwen CAO

in ransacOutlierRejection.m,there is two errors:
the return value of 'update' should be one

Error in ransacOutlierRejection (line 16)
    [ dx_k, P_k] = update( dx, P, nc_var, x_nom, h, uv123(:,randNum,:), filterParam );

Error in realDataExp (line 281)
           [ pickedLmkList, outlierList ] = ransacOutlierRejection( dx, P, nc_var, x_nom, @updateModel, uv123, filterParam,
           RANSAC_threshold );
Could you help me?THX!

carry-xz

carry-xz (view profile)

shajia ikram

shajia ikram

can you plz tell me the complete procedure about how to execute it??

shajia ikram

mm

chaitra

please send the execution procedure for this.

Haigen MIN

in ransacOutlierRejection.m,there is two errors:
No constructor 'update' with matching signature found.

Error in ransacOutlierRejection (line 16)
    [ dx_k, ] = update( dx, P, nc_var, x_nom, h, uv123(:,randNum,:), filterParam );

Error in realDataExp (line 281)
           [ pickedLmkList, outlierList ] = ransacOutlierRejection( dx, P, nc_var, x_nom, @updateModel, uv123, filterParam,
           RANSAC_threshold );
Can you help me?

GoGreen

Hi mychen,

i am not able to run the files,Can you please tell me how to run this file?

thnx

NAGA VBN

I got ouput when I downloaded the data sets from http://www.cvlibs.net/datasets/kitti/raw_data.php

NAGA VBN

NAGA VBN

When I ran realDataExp.m errors are coming how to execute this in offline.plz help.

NAGA VBN

Hi mychen,

Can you please tell me how to run this file.

Shashi

Shashi (view profile)

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

Shashi

Shashi (view profile)

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

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.

mehdi

mehdi (view profile)

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?
Tnx

wu

wu (view profile)

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

Ping

Ping (view profile)

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

Ping

Ping (view profile)

MATLAB Release
MATLAB 7.10 (R2010a)
Acknowledgements

Inspired by: zoharby/plot_google_map

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