Robocentric Visual-Inertial Odometry

10 May 2018 Zheng Huai Guoquan Huang

In this paper, we propose a novel robocentric formulation of the visual-inertial navigation system (VINS) within a sliding-window filtering framework and design an efficient, lightweight, robocentric visual-inertial odometry (R-VIO) algorithm for consistent motion tracking even in challenging environments using only a monocular camera and a 6-axis IMU. The key idea is to deliberately reformulate the VINS with respect to a moving local frame, rather than a fixed global frame of reference as in the standard world-centric VINS, in order to obtain relative motion estimates of higher accuracy for updating global poses... (read more)

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