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Published at December 4

Asynchronous Event-Inertial Odometry using a Unified Gaussian Process Regression Framework

cs.RO

Released Date: December 4, 2024

Authors: Xudong Li¹, Zhixiang Wang, Zihao Liu, Yizhai Zhang, Fan Zhang, Xiuming Yao, Panfeng Huang

Aff.: ¹Shaanxi Province Innovation Team of Intelligent Robotic Technology, School of Astronautics, Northwestern Polytechnical University, Xi'an, China

Arxiv: http://arxiv.org/pdf/2412.03136v1

Sequences	CT-IMU	GP-IMU	Ref.[4]	Ref.[3](E+I)
dynamic_translation	0.030	0.060	0.056	0.037
dynamic_6dof	0.076	0.056	0.073	0.040
poster_translation	0.087	0.082	0.242	0.087
poster_6dof	0.156	0.084	0.210	0.197
boxes_6dof	0.347	0.151	0.073	0.078
shapes_6dof	0.108	0.244	—	0.163
indoor_flying1	2.167	1.506	—	1.968
indoor_flying2	2.278	2.149	—	failed