Event
OpenMV AE3 Image and IMU Synchronized VIO Solution Open-Sourced
1 reports · 1 sources
Reddit user Admirable_Hair_5671 shared a solution for synchronizing OpenMV AE3 camera exposure with specific IMU measurements to improve visual-inertial odometry, with the code open-sourced. The approach modifies the firmware to add a shared clock between the two CPU cores; the IMU runs at 208 Hz, and every 10 IMU measurements trigger one camera exposure, roughly 20 FPS. The user said they conducted test flights using Kimera-VIO and provided videos of a 3 m/s outdoor flight and an indoor flight. The claim that synchronization improves odometry performance comes from the user; the report does not provide independent verification.
Report timeline
- 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.
Reddit r/robotics ·