Video presentation

We present an indoor localization system based on tight coupling between a stereo camera and an Inertial Measurement Unit (IMU).

The sensor suite is precisely calibrated and adaptively synchronized by compensating for variable camera exposure time. Sensor odometry is estimated using the Open Keyframe-based Visual-Inertial System (OKVIS) algorithm.

The system runs online in real time on an embedded computer. Experimental results demonstrate that it achieves high accuracy and remains reliable under outlier motions.

Publications

  • Nguyen Hoang Khoi Tran and Vinh-Hao Nguyen, “A Tightly-Coupled Visual-Inertial System with Synchronized Time for Indoor Localization,” International Journal of Mechanical Engineering and Robotics Research, Vol. 10, No. 4, pp. 202-208, April 2021. Available here

Citing

If you find this work useful please cite

@article{tran2021visync,
  author  = {Tran, Nguyen Hoang Khoi and Nguyen, Vinh-Hao},
  title   = {A Tightly-Coupled Visual-Inertial System with Synchronized Time for Indoor Localization},
  journal = {International Journal of Mechanical Engineering and Robotics Research},
  volume  = {10},
  number  = {4},
  pages   = {202--208},
  year    = {2021},
  month   = {April}
}

Updated: