AnchorFlow-VIO: Fixed-Template Monocular Visual-Inertial Odometry on LaMAria

Key points

• The system uses one grayscale camera and one IMU, combining factory IMU correction, a fixed timing adjustment, windowed initialization and fixed-template patch tracking.1
• Server evaluation of all 63 test recordings yields control-point scores of 47.2, 37.1, 24.8, 35.1 and 15.6 for Short, Medium, Long, Low light and Moving platform.1
• Test pose recalls at 5 m are 84.6%, 69.1%, 53.9% and 62.9% for the four categories reporting dense recall.1
• These results characterize the limits of the frozen system and show why complete output, feature counts and selected successful runs are insufficient evidence of robust localization.1

Sources (1)

• [1]AnchorFlow-VIO: Fixed-Template Monocular Visual-Inertial Odometry on LaMAria
  arXiv (AI, ML, NLP, CV, robotics, multi-agent) · Oct 19, 11:37 AM

  We present AnchorFlow-VIO, an open-source Basalt-derived monocular visual-inertial odometry system, and evaluate a uniform configuration on LaMAria.

  The system uses one grayscale camera and one IMU, combining factory IMU correction, a fixed timing adjustment, windowed initialization and fixed-template patch tracking.

Extractive summary: sentences quoted from the sources.