Visual-Inertial-Wheel Odometry with Online Calibration
Woosik Lee,Kevin Eckenhoff,Yulin Yang,Patrick Geneva,Guoquan Huang,Woosik Lee,Kevin Eckenhoff,Yulin Yang,Patrick Geneva,Guoquan Huang
In this paper, we introduce a novel visual-inertial-wheel odometry (VIWO) system for ground vehicles, which efficiently fuses multi-modal visual, inertial and 2D wheel odometry measurements in a sliding-window filtering fashion. As multi-sensor fusion requires both intrinsic and extrinsic (spatiotemproal) calibration parameters which may vary over time during terrain navigation, we propose to perf...
