FoundationVIO: Enforcing Metric Scale in Feed-forward Visual-Inertial Odometry
Overview
FoundationVIO combines inertial sensing with geometric foundation models to recover metric scale in visual-inertial odometry. It uses a factor-graph approach to address scale ambiguity, achieving competitive odometry and dense reconstructions compared to existing methods. Runs at real-time on consumer-grade GPUs.
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“evaluate our method on three datasets with well known sensor systems and demonstrate its compatibility on ubiquitous camera and IMU sensors. The method runs at approximately real-time on a consumer-grade laptop GPU. Code: https://github.com/ori-drs/FoundationVIO.”
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- arXiv Robotics — research abstractsFoundationVIO: Enforcing Metric Scale in Feed-forward Visual-Inertial Odometry
FoundationVIO integrates inertial sensing with geometric foundation models to recover metric scale in visual-inertial odometry. It addresses the scale ambiguity in GFM predictions using a factor-graph approach, achieving competitive odometry estimates and more accurate dense reconstructions compared to existing GFM-enabled SLAM methods. The method runs at approximately real-time on a consumer-grade laptop GPU.
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