Uncertainty-Based Adaptive Sensor Fusion for Visual-Inertial Odometry under Various Motion Characteristics
Ryo Nakashima,Akihito Seki,Ryo Nakashima,Akihito Seki
We propose an uncertainty-based sensor fusion framework for visual-inertial odometry, which is the task of estimating relative motion using images and measurements from inertial measurement units. Visual-inertial odometry enables robust and scale-aware estimation of motion by incorporating sensor states, such as metric scale, velocity, and the direction of gravity, into the estimation. However, th...
