Localization and mapping on autonomous robots typically requires a good pose estimate, which is hard to acquire if the vehicle is tracked. This video shows Dr. Alexander Kleiner's solution to the pose estimation problem by utilizing a consumer-quality camera and an Inertial Measurement Unit (IMU).
More information:
http://www.informatik.uni-freiburg.de/~kleiner/papers/dornhege-et-al-ssrr06.pdf
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