# Learning VIO (Visual Inertial Odometry) or VISLAM

Source: https://forum.modalai.com/topic/2158/learning-vio-visual-inertial-odometry-or-vislam
Category: General Questions (https://forum.modalai.com/category/2/general-questions)
Posted: 2023-05-15 01:58:22 UTC by jfhauris
Replies: 0 · Views: 637

## jfhauris · 2023-05-15 01:58:22 UTC

Hi, I am a student and understand computer vision and Kalman filters very well.  However, I am having trouble understanding how to incorporate IMU data with the vision data into the kalman filter.  Can anyone recommend a reference or tutorial that would be accessible to learn VIO?  I have read the following papers but find them challenging on my own:
Papers by: Patrick Geneva and Guoquan Huang from the University of Delaware. (OpenVINS https://docs.openvins.com/) but it is hard to understand and follow.  Also papers by Anastasios I. Mourikis and Stergios I. Roumeliotis from University of Minnesota such as
"A Multi-State Constraint Kalman Filter for Vision-aided Inertial Navigation"
"Visual Inertial Navigation: A Concise Review"
"Indirect Kalman Filter for 3D Attitude Estimation A Tutorial for Quaternion Algebra, Technical Report Number 2005-002, Rev. 57 March 2005"
Thank you for any help you can provide, Jon Hauris