• inertial measurement
• Raspberry video
• real-time
• visual inertial SLAM

The fusion of inertial and visual data is widely used to improve an object pose estimation. An Inertial Measurement Unit (IMU) is able to measure the 3D acceleration and rotation of a moving object. An integration of the acceleration measurements over time from the IMU yields a position in meters whereas an applied vSLAM algorithm on the vision data provides a position with an unknown scale factor.
This thesis project intends to design and develop a low cost and low power hand handle video streaming real-time system. The hand-handle device (a Raspberry PI) transmits data video along with the IMU data synchronized frame per frame, then a host application receives all data and applies vSLAM algorithm while renders the video.