Learning-aided visual inertial odometry for mobile robots

• Main Author: Heng, Yu Xi
• Other Authors: Xie Lihua
• Format: Final Year Project
• Language: English
• Published: Nanyang Technological University 2023
• Subjects: Engineering::Electrical and electronic engineering
• Online Access: https://hdl.handle.net/10356/167209
• Institution: Nanyang Technological University

This research presents a novel approach to visual-inertial odometry (VIO) for challenging environments based on VINS-Fusion. The proposed method utilizes a deep learning technique to enhance the performance of the state estimation. The proposed approach employs semantic segmentation to highlight...