July 2019
Intermediate to advanced
422 pages
13h 57m
English
Content preview from Multimodal Scene UnderstandingBecome an O’Reilly member and get unlimited access to this title plus top books and audiobooks from O’Reilly and nearly 200 top publishers, thousands of courses curated by job role, 150+ live events each month,
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Chapter 7
A Review and Quantitative Evaluation of Direct Visual–Inertial Odometry
Lukas von Stumberg⁎,†; Vladyslav Usenko⁎; Daniel Cremers⁎,† ⁎Department of Informatics, Technical University of Munich, Munich, Germany†Artisense GmbH, Garching, Germany
Abstract
Simultaneous location and mapping (SLAM) is an integral part of scene understanding. There have been two sensors that in combination have shown to be particularly useful for this task: cameras and inertial measurement units (IMUs). In the last years a lot of very powerful and precise purely visual SLAM methods have been proposed, yet all of them exhibit a lack of robustness especially to fast motion and textureless areas. This is where IMUs are a great addition. They can provide short-term ...
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