Ctrl-VIO: Continuous-Time Visual-Inertial Odometry for Rolling Shutter Cameras
Ctrl-VIO is a highly-accurate continuous-time visual-inertial odometry system with online calibration for the line exposure time difference (line delay) of the rolling shutter cameras , using continuous-time trajectory parameterized by B-splines to elegantly handle the rolling shutter effect, which outperforms SOTA global shutter method VIO and rolling shutter method VIO on rolling shutter data. A novel marginalization strategy for continuous-time framework is proposed and implemented.
The source code will be available after the publication of the related paper.
The RMSE(m) of APE results of GS methods on GS data, and both GS methods and RS methods on RS data in TUM-RSVI Dataset. The best results are marked in bold and the second best results are marked in blue.