IMU and Camera: Why
Proprioceptive sensors:
– Measure platform’s motion
– Examples: wheel encoder, inertial measurement unit (IMU)
Exteroceptive sensors:
– Capture information about the surroundings
– Examples: camera, sonar, magnetometer, laser scanner, radar
IMU + camera (vision-aided inertial navigation)
– Sensors provide 3D-motion information
– No external infrastructure required
– Small, light, low-power, and inexpensive
– Available on existing consumer devices and miniature robots
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