Camera Motion Estimation from RGB-D-Inertial Scene Flow
<|reference_start|>Camera Motion Estimation from RGB-D-Inertial Scene Flow: 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, we conducted evaluations using both synthetic data from the ICL-NUIM dataset and real data sequences from the OpenLORIS-Scene dataset. Our results show that the fusion of these two sensors enhances the accuracy of camera motion estimation when compared to using only visual data.<|reference_end|>
@article{cerezo2024camera,
    title={Camera Motion Estimation from RGB-D-Inertial Scene Flow},
    author={Samuel Cerezo, Javier Civera},
    journal={arXiv preprint arXiv:2404.17251},
    year={2024},
    archivePrefix={arXiv},
    eprint={2404.17251},
    primaryClass={cs.CV}
}