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Ariane Spaenlehauer

A Loosely-Coupled Approach for Metric Scale Estimation in Monocular Vision-Inertial Systems

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Oct 09, 2017
Ariane Spaenlehauer, Vincent Fremont, Y. Ahmet Sekercioglu, Isabelle Fantoni

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In monocular vision systems, lack of knowledge about metric distances caused by the inherent scale ambiguity can be a strong limitation for some applications. We offer a method for fusing inertial measurements with monocular odometry or tracking to estimate metric distances in inertial-monocular systems and to increase the rate of pose estimates. As we performed the fusion in a loosely-coupled manner, each input block can be easily replaced with one's preference, which makes our method quite flexible. We experimented our method using the ORB-SLAM algorithm for the monocular tracking input and Euler forward integration to process the inertial measurements. We chose sets of data recorded on UAVs to design a suitable system for flying robots.

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