This talk was presented at the ICRA21 Workshop on Visual-Inertial Navigation Systems organized by my advisor Guoquan (Paul) Huang. This presentation served as an introduction to the topic of visual-inertial research. The main goal was to provide both a nice introduction to the rest of the workshop talks, but also discuss some of the key challenge areas which research has focused on. Additionally, a high level introduction into the camera and inertial measurement models along with traditional estimation methods was presented. The presentation finally closed with an overview of available open sourced systems, datasets, and evaluation techniques that a research could start using today.
Slides: https://pgeneva.com/downloads/notes/2021_vins_tutorial_v6_split.pdf
Full Workshop: https://www.youtube.com/watch?v=xlDbuw6skag