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We present VI-DSO, a novel approach for visual-inertial odometry, which jointly estimates camera poses and sparse scene geometry by minimizing photometric and IMU measurement errors in a combined energy functional.
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2007
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A. Davison, I. Reid, N. Molton, and O. Stasse, “MonoSLAM: Real-time single camera SLAM,” TPAMI , vol. 29, 2007
2007
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G. Klein and D. Murray, “Parallel tracking and mapping for small AR workspaces,” in Proc. of ISMAR , 2007
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T. Lupton and S. Sukkarieh, “Visual-inertial-aided navigation for high-dynamic motion in built environments without initial conditions,” IEEE Trans. on Robotics , vol. 28, no. 1, pp. 61–76, 2012. http://dx.doi.org/10.1109/TRO.2011.2170332
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L. Meier, P. Tanskanen, F. Fraundorfer, and M. Pollefeys, “Pixhawk: A system for autonomous flight using onboard computer vision,” in IEEE ICRA , 2011
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J. Engel, J. Sturm, and D. Cremers, “Camera-based navigation of a low-cost quadrocopter,” in IEEE/RSJ IROS , 2012
2012
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A. Geiger, P. Lenz, and R. Urtasun, “Are we ready for autonomous driving? The KITTI vision benchmark suite,” in IEEE CVPR , 2012
2012
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A. Stelzer, H. Hirschmüller, and M. Görner, “Stereo-vision-based navigation of a six-legged walking robot in unknown rough terrain,” IJRR , 2012
2012
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C. Kerl, J. Sturm, and D. Cremers, “Robust odometry estimation for RGB-D cameras,” in IEEE ICRA , 2013
2013
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M. Li and A. Mourikis, “High-precision, consistent EKF-based visual-inertial odometry,” IJRR , vol. 32, 2013
2013
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L. Carlone, Z. Kira, C. Beall, V. Indelman, and F. Dellaert, “Eliminating conditionally independent sets in factor graphs: A unifying perspective based on smart factors,” in IEEE ICRA , 2014
2014
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J. Engel, T. Schöps, and D. Cremers, “LSD-SLAM: Large-scale direct monocular SLAM,” in Proc. of ECCV , 2014
2014
Cited alongside, same era.
C. Forster, L. Carlone, F. Dellaert, and D. Scaramuzza, “IMU preintegration on manifold for efficient visual-inertial maximum-a-posteriori estimation,” in Proc. of RSS , 2015
2015
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R. Mur-Artal, J. M. M. Montiel, and J. D. Tardós, “Orb-slam: A versatile and accurate monocular slam system,” IEEE Trans. on Robotics , vol. 31, no. 5, pp. 1147–1163, Oct 2015
2015
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M. Burri, J. Nikolic, P. Gohl, T. Schneider, J. Rehder, S. Omari, M. W. Achtelik, and R. Siegwart, “The euroc micro aerial vehicle datasets,” IJRR , 2016. http://ijr.sagepub.com/content/early/2016/01/21/0278364915620033.abstract
2016
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V. Usenko, J. Engel, J. Stückler, and D. Cremers, “Direct visual-inertial odometry with stereo cameras,” in IEEE ICRA , May 2016
2016
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C. Forster, M. Pizzoli, and D. Scaramuzza, “SVO: fast semi-direct monocular visual odometry,” in IEEE ICRA , 2014
2014
Cited alongside, same era.
S. Leutenegger, S. Lynen, M. Bosse, R. Siegwart, and P. Furgale, “Keyframe-based visual-inertial odometry using nonlinear optimization,” IJRR , 2014
2014
Cited alongside, same era.
A. Martinelli, “Closed-form solution of visual-inertial structure from motion,” IJCV , vol. 106, no. 2, 2014. http://dx.doi.org/10.1007/s11263-013-0647-7
2014
Cited alongside, same era.
M. Bloesch, S. Omari, M. Hutter, and R. Siegwart, “Robust visual inertial odometry using a direct EKF-based approach,” in IEEE/RSJ IROS , 2015
2015
Cited alongside, same era.
J. Kaiser, A. Martinelli, F. Fontana, and D. Scaramuzza, “Simultaneous state initialization and gyroscope bias calibration in visual inertial aided navigation,” IEEE Robot. and Autom. Lett. , vol. 2, no. 1, 2017
2017
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A. Kasyanov, F. Engelmann, J. Stückler, and B. Leibe, “Keyframe-Based Visual-Inertial Online SLAM with Relocalization,” ArXiv e-prints:1702.02175 , 2017
2017
Later among the works it cites.
R. Mur-Artal and J. D. Tardós, “Visual-inertial monocular slam with map reuse,” IEEE Robot. and Autom. Lett. , vol. 2, no. 2, 2017
2017
Later among the works it cites.
J. Engel, V. Koltun, and D. Cremers, “Direct sparse odometry,” TPAMI , vol. 40, 2018
2018
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