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Visual-Inertial Odometry Pipeline
The goal of this project is to develop a visual-inertial pipeline for mobile robots. The system will estimate the pose of the robot using one or multiple cameras and IMU measurements.
Keywords: visual-inertial state estimation, quadrotor
The developed pipeline will build upon an existing visual odometry pipeline developed within our research group. The system will estimate the pose of the mobile robot, such as a quadrotor, using the information provided by the onboard cameras as well as the intertial measurement unit (IMU). Filtering approaches as well as batch optimization methods will be investigated. The pipeline is expected to operate in real-time.
https://youtu.be/hR8uq1RTUfA
The developed pipeline will build upon an existing visual odometry pipeline developed within our research group. The system will estimate the pose of the mobile robot, such as a quadrotor, using the information provided by the onboard cameras as well as the intertial measurement unit (IMU). Filtering approaches as well as batch optimization methods will be investigated. The pipeline is expected to operate in real-time.
https://youtu.be/hR8uq1RTUfA
Not specified
Zichao Zhang (zzhang at ifi.uzh.ch), Henri Rebecq (rebecq at ifi.uzh.ch), Guillermo Gallego (guillermo.gallego at ifi.uzh.ch)
Zichao Zhang (zzhang at ifi.uzh.ch), Henri Rebecq (rebecq at ifi.uzh.ch), Guillermo Gallego (guillermo.gallego at ifi.uzh.ch)