Visual inertial odometry in matlab

The following Matlab project contains the source code and Matlab examples used for visual inertial odometry. This code is still very experimental and the result depends on many factors. For more details, please refer to our paper. Run realDataExp.m for demos.

The source code and files included in this project are listed in the project files section, please make sure whether the listed source code meet your needs there.

Project Files: 

File NameSize
bucketing.m 1749
createLmk.m 479
getT0.m 528
mercatorToLatLon.m 331
README.txt 293
error_state_prediction.m 4407
getRnb.m 449
license.txt 1381
nomial_state_model.m 1111
nomial_state_prediction.m 806
nom_plus_err.m 1483
plot_error_covariance.m 2791
plot_error_state.m 1708
plot_google_map.m 14792
plot_nomial_state.m 1669
q2r.m 274
qprod.m 346
ransacOutlierRejection.m 1328
realDataExp.m 13055
recordState.m 2052
replace_state_and_revise_covariance.m 777
setupParams.m 3516
match.m 2243
README.txt 286
skew.m 143
trifocalTransfer.m 1778
update.m 1132
updateModel.m 2149
uvRec09_30_0028.mat 5159401
uvRec10_03_0027.mat 4515964
uvRec10_03_0042.mat 1976774
validateCovMatrix.m 636

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