we replace the accelerometer with a wheel encoder and present a method of using a low-cost camera and a gyroscope to estimate the robot's motion state. Compared with the traditional VIO system, the derivation of the motion state estimation proposed in this paper is more concise. Our algorithm based on the VINS-Mono has better real-time performance and is more suitable for embedded devices.
Jun Liu (Email: [email protected])
Thank you for citing our paper if you use any of this code:
@ARTICLE{1207,
author={Jun Liu, Jiajun Zhao, Xingye Fan},
journal={34th Chinese Control and Decison Conference},
title={Visual Odometry Tightly Coupled with Wheel Encoder and Gyroscope},
year={2022},
volume={},
number={},
pages={},
doi={}
}
We hereby recommend reading VINS-Mono for reference and thank them for making their work public.
The source code is released under GPLv3 license.
I am constantly working on improving this code. For any technical issues or commercial use, please contact me([email protected]).