Real-Time Visual Inertial Odometry with a Resource-Efficient Harris Corner Detection Accelerator on FPGA Platform
Pengfei Gu,Ziyang Meng,Pengkun Zhou,Pengfei Gu,Ziyang Meng,Pengkun Zhou
Visual Inertial Odometry (VIO) is a widely studied localization technique in robotics. State-of-the-art VIO algorithms are composed of two parts: a frontend which performs visual perception and inertial measurement pre-processing, and a backend which fuses vision and inertial measurements to estimate the robot's pose. Both image processing in the frontend and sensor fusion in the backend are compu...
