Camera Motion Estimation from RGB-D-Inertial Scene Flow

arXiv:2404.17251v1 Announce Type: new
Abstract: In this paper, we introduce a novel formulation for camera motion estimation that integrates RGB-D images and inertial data through scene flow. Our goal is to accurately estimate the camera motion in a rigid 3D environment, along with the state of the inertial measurement unit (IMU). Our proposed method offers the flexibility to operate as a multi-frame optimization or to marginalize older data, thus effectively utilizing past measurements. To assess the performance of our method, …

abstract arxiv cs.cv data environment flow images measurement novel paper rgb-d state through type