視覚慣性オドメトリarXiv:1906.03289
飛行ロボットの視覚慣性オドメトリ
Visual-Inertial Odometry of Aerial Robots
カメラとIMUのみを用いて飛行ロボットの姿勢と速度を推定する視覚慣性オドメトリ(VIO)の手法を解説した論文。
著者: Davide Scaramuzza, Zichao Zhang
分類: cs.RO
原文アブストラクト
Visual-Inertial odometry (VIO) is the process of estimating the state (pose and velocity) of an agent (e.g., an aerial robot) by using only the input of one or more cameras plus one or more Inertial Measurement Units (IMUs) attached to it. VIO is the only viable alternative to GPS and lidar-based odometry to achieve accurate state estimation. Since both cameras and IMUs are very cheap, these sensor types are ubiquitous in all today's aerial robots.
