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  • Visual Inertial Odometry system for mobile robotics 

    Terrado González, Faust (Universitat Politècnica de Catalunya, 2015-05-22)
    Master thesis (pre-Bologna period)
    Open Access
    This document presents an odometry method to estimate the pose of a mobile robot using a monocular camera and an inertial measurement unit. The method is based on the error state Kalman filter.