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Fast Monocular Visual-inertial Odometry
The project aims to develop fast visual-inertial odometry algorithms that can execute in real-time on embedded systems.
Keywords: Visual-inertial Odometry
Monocular visual-inertial (VI) system is the minimal setup that can provide reliable state estimation for robotics. Among different monocular VI odometry algorithms, optimization-based methods has become popular because of its superior accuracy. However, most of them are too expensive to run in real-time on an embedded system. The goal of this project is to integrate an optimization backend with our fast visual odometry frontend SVO to achieve reliable state estimation using only onboard sensing and computing. The applicant is required to be proficient in C++ programming and have computer vision knowledge.
Monocular visual-inertial (VI) system is the minimal setup that can provide reliable state estimation for robotics. Among different monocular VI odometry algorithms, optimization-based methods has become popular because of its superior accuracy. However, most of them are too expensive to run in real-time on an embedded system. The goal of this project is to integrate an optimization backend with our fast visual odometry frontend SVO to achieve reliable state estimation using only onboard sensing and computing. The applicant is required to be proficient in C++ programming and have computer vision knowledge.
The project aims to develop fast visual-inertial odometry algorithms that can execute in real-time on embedded systems.
The project aims to develop fast visual-inertial odometry algorithms that can execute in real-time on embedded systems.