Indoor positioning by visual-inertial odometry

Indoor positioning is a fundamental requirement of many indoor location-based services and applications. In this paper, we explore the potential of low-cost and widely available visual and inertial sensors for indoor positioning. We describe the Visual-Inertial Odometry (VIO) approach and propose a measurement model for omnidirectional visual-inertial odometry (OVIO). The results of experiments in two simulated indoor environments show that the OVIO approach outperforms VIO and achieves a positioning accuracy of 1.1 % of the trajectory length.