IDOL: A Framework for IMU-DVS Odometry using Lines
Cedric Le Gentil,Florian Tschopp,Ignacio Alzugaray,Teresa Vidal-Calleja,Roland Siegwart,Juan Nieto,Cedric Le Gentil,Florian Tschopp,Ignacio Alzugaray,Teresa Vidal-Calleja,Roland Siegwart,Juan Nieto
In this paper, we introduce IDOL, an optimization-based framework for IMU-DVS Odometry using Lines. Event cameras, also called Dynamic Vision Sensors (DVSs), generate highly asynchronous streams of events triggered upon illumination changes for each individual pixel. This novel paradigm presents advantages in low illumination conditions and high-speed motions. Nonetheless, this unconventional sens...
