Visual-Inertial Odometry of Aerial Robots

Davide Scaramuzza; Zichao Zhang

Visual-Inertial Odometry of Aerial Robots

Robotics 2019-06-17 v2

Authors: Davide Scaramuzza , Zichao Zhang

Abstract

Visual-Inertial odometry (VIO) is the process of estimating the state (pose and velocity) of an agent (e.g., an aerial robot) by using only the input of one or more cameras plus one or more Inertial Measurement Units (IMUs) attached to it. VIO is the only viable alternative to GPS and lidar-based odometry to achieve accurate state estimation. Since both cameras and IMUs are very cheap, these sensor types are ubiquitous in all today's aerial robots.

Keywords

visual-inertial odometry aerial robots state estimation imu camera

Cite

@article{arxiv.1906.03289,
  title  = {Visual-Inertial Odometry of Aerial Robots},
  author = {Davide Scaramuzza and Zichao Zhang},
  journal= {arXiv preprint arXiv:1906.03289},
  year   = {2019}
}

Comments

Accepted in the Encyclopedia of Robotics, Springer

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