Dense visual-inertial navigation system for mobile robots

  title={Dense visual-inertial navigation system for mobile robots},
  author={Sammy Omari and Michael Bl{\"o}sch and Pascal Gohl and Roland Siegwart},
  journal={2015 IEEE International Conference on Robotics and Automation (ICRA)},
Real-time dense mapping and pose estimation is essential for a wide range of navigation tasks in mobile robotic applications. We propose an odometry and mapping system that leverages the full photometric information from a stereo-vision system as well as inertial measurements in a probabilistic framework while running in real-time on a single low-power Intel CPU core. Instead of performing mapping and localization on a set of sparse image features, we use the complete dense image intensity… CONTINUE READING
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