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Visual Inertial Odometry

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4.9 | 8 ratings Rate this file 40 Downloads (last 30 days) File Size: 11 MB File ID: #43218 Version: 1.0
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Visual Inertial Odometry


mychen (view profile)


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 (18)
09 Aug 2016 xz him

xz him (view profile)

25 Jun 2016 shajia ikram  
25 Jun 2016 shajia ikram

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

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25 Jun 2016 shajia ikram


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08 Mar 2016 chaitra

please send the execution procedure for this.

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12 Nov 2015 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?

07 Nov 2015 GoGreen

Hi mychen,

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


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29 May 2015 NAGA VBN

I got ouput when I downloaded the data sets from

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29 May 2015 NAGA VBN  
27 May 2015 NAGA VBN

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

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07 May 2015 NAGA VBN

Hi mychen,

Can you please tell me how to run this file.

08 Jul 2014 Shashi

Shashi (view profile)

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

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08 Jul 2014 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?

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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.

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20 May 2014 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?

16 Apr 2014 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

15 Apr 2014 Ping

Ping (view profile)

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

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15 Apr 2014 Ping

Ping (view profile)


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