Visual-inertial odometry, mapping and re-localization through learning

Thesis

Precise pose information is a fundamental prerequisite for numerous applications in robotics, AI and mobile computing. Monocular cameras are the ideal sensor for this purpose - they are cheap, lightweight and ubiquitous. As such, monocular visual localization is widely regarded as a cornerstone requirement of machine perception. However, a large gap still exists between the performance that these applications require and that which is achievable through existing monocular perception algori...

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Authors: Clark, R

• Type of award: DPhil
• Level of award: Doctoral
• Awarding institution: University of Oxford