Sarah Leung

Vision-Aided Absolute Trajectory Estimation Using an Unsupervised Deep Network with Online Error Correction

Adstract- We present an unsupervised deep neural network approach to the fusion of RGB-D imagery with inertial measurements for absolute trajectory estimation. Our network, dubbed the Visual-Inertial-Odometry Learner (VIOLearner), learns to perform visual-inertial odometry (VIO) without inertial mea…