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Visual Inertial Odometry

version 1.0.0.0 (11 MB) by mychen
Estimate motion trajectory by using a monocular camera and an inertial measurement unit

10 Downloads

Updated 26 Aug 2013

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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 (27)

Ravindra

To solve the google map roadmap problem.
replace the old plot_google​_map function with the new available function.
https://de.mathworks.com/matlabcentral/fileexchange/27627-zoharby-plot_google_map.
cheers!!

It turns out that one must change the path for the 20011_10_03_calib file in the setParams function to wherever you are keeping the calibration data on your own computer. Then it worked

I am trying to get realDataExp.m to run and am getting the error 'ERROR: Could not load: D:\Dropbox\code\matlab\DATASET\2011_10_03_calib\calib_imu_to_velo.txt'. All I have done is download the devkit from the suggested website in the readme and copy its files into the existing devkit folder. Thoughts on what is going wrong?

Ravindra

problem with plot_google_map function

Undefined operator '*' for input arguments of type
'matlab.graphics.axis.Axes'.

Error in plot_google_map (line 97)
inputParams.(['ax' num2str(axHandle*1e6,'%.0f')]) =
varargin;

Error in realDataExp (line 356)
plot_google_map( 'maptype', 'roadmap' )

any suggestions for the error correction??
Thanks for your kind suggestions

Kostas

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

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

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

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

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?

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

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

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

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

Ping

MATLAB Release Compatibility
Created with R2010a
Compatible with any release
Platform Compatibility
Windows macOS Linux
Acknowledgements

Inspired by: zoharby/plot_google_map