Fusion of IMU and Vision for Absolute Scale Estimation in Monocular SLAM

By Gabriel Nützi, Stephan Weiss, Davide Scaramuzza, Roland Yves Siegwart. J. Intell. Robotic Syst., 2011

326 citations recorded by the source corpus.

Subfields: Aerospace Engineering, Computer Vision and Pattern Recognition, Geology

View Paper: https://www.semanticscholar.org/paper/d32db276542dff80ab41c295e40c10e8f396aaa9

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Citations in the corpus

Advanced closed loop visual navigation for micro aerial vehicles (2014, methodology): “For the computation of the noise terms for the image-based measurements, we refer to the work of Omari and Ducard (2013). The block entries for the measurement Jacobian become lengthy again, therefore using a symbolic toolbox for their computation is recommended.”
An Overview to Visual Odometry and Visual SLAM: Applications to Mobile Robotics (2015, background): “It has been shown [89] that the required information can be collected using other sensors such as IMU’s, wheel encoders or GPS.”
Vision based navigation for micro helicopters (2012, unknown): “We did initial studies on recovering the metric scale in (Nutzi et al. (2010)) and will go into further detail in Chapter 3.”
Visual simultaneous localization and mapping: a survey (2012, result): “As has been demonstrated in some investigations (Castellanos et al. 2001;Majumder et al. 2005; Nützi et al. 2010), to maintain an accurate and robust estimation of the robot position it is needed to use the fusion of information from multiple sensors of perception.”
Monocular‐SLAM–based navigation for autonomous micro helicopters in GPS‐denied environments (2011, methodology): “The scale drift was handled by opportunely fusing the visual SLAM algorithm with the IMU data as described in our previous work (Nutzi et al., 2010).”
Camera-based navigation of a low-cost quadrocopter (2012, unknown): “Two videos demonstrating the robustness of our approach, its ability to eliminate drift effectively and to estimate the absolute scale of the map are available online: http://youtu.be/tZxlDly7lno http://youtu.be/eznMokFQmpc”