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Implementing IMU and image-synchronized visual-inertial odometry with the OpenMV AE3

The author used a Python script and modified firmware to synchronize the OpenMV AE3 camera's exposure with specific IMU measurements, aiming to improve visual-inertial odometry. The firmware change adds a shared clock between the two CPU cores; the IMU runs at 208 Hz, and every 10 IMU measurements trigger one camera exposure, at about 20 FPS. The code is open-sourced, and test videos of Kimera-VIO in 3 m/s outdoor flight and indoor flight are provided.

Part of the event: OpenMV AE3 Image and IMU Synchronized VIO Solution Open-Sourced

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