Fusion of Inertial and Visual Measurements for RGB-D SLAM on Mobile Devices

@article{Brunetto2015FusionOI,
  title={Fusion of Inertial and Visual Measurements for RGB-D SLAM on Mobile Devices},
  author={Nicholas Brunetto and Samuele Salti and Nicola Fioraio and Tommaso Cavallari and Luigi di Stefano},
  journal={2015 IEEE International Conference on Computer Vision Workshop (ICCVW)},
  year={2015},
  pages={148-156}
}
Simultaneous Localization and Mapping (SLAM) algorithms have been recently deployed on mobile devices, where they can enable a broad range of novel applications. Nevertheless, pure visual SLAM is inherently weak at operating in environments with a reduced number of visual features. Indeed, even many recent proposals based on RGB-D sensors cannot handle properly such scenarios, as several steps of the algorithms are based on matching visual features. In this work we propose a framework suitable… CONTINUE READING