Visual Inertial Odometry with Multi-Scale Constraint Kalman Filter
Worcester Polytechnic Institute | 2022
Overview
Course project implementing Visual Inertial Odometry (VIO) using multi-scale constraint Kalman filter for robust state estimation.
Technical Details
- Implemented multi-scale constraint Kalman filter for sensor fusion
- Combined visual features with IMU data for accurate pose estimation
- Developed algorithms for handling scale ambiguity in monocular vision
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