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, GermanyArtisense GmbH, Garching, Germany


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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