VIO and Augmented Reality
A prototype VIO device made of a global-shutter stereo camera and a bulky IMU unit. When operating, the device uses the USB interface to feed camera streams and IMU data to a PC, which further processes the data using the OpenVINS framework to estimate the device's pose, as shown in the video below.
The 6-DoF tracking result is forwarded to the Godot engine to drive the motion of the XR camera rig, which essentially constitutes an AR experience (cf. the video below).
Due to the lack of proper hardware timestaping and IMU intrinsic calibration, the positional tracking can only remain stable for a relatively short period of time. One of the standard ways for long-term stable tracking, for example, is to use cameras with external triggers and timestamp the camera frames and IMU data using a microcontroller.