The TUM VI Benchmark for Evaluating Visual-Inertial Odometry

4 code implementations • 17 Apr 2018 • David Schubert, Thore Goll, Nikolaus Demmel, Vladyslav Usenko, Jörg Stückler, Daniel Cremers

For trajectory evaluation, we also provide accurate pose ground truth from a motion capture system at high frequency (120 Hz) at the start and end of the sequences which we accurately aligned with the camera and IMU measurements.

Visual Odometry