Climb-Odom: A robust and low-drift RGB-D inertial odometry with surface continuity constraints for climbing robots on freeform surface

Zhenfeng Gu, Zeyu Gong, Ke Tan, Ying Shi, Chong Wu, Bo Tao, Han Ding

Abstract: Highlights•Surface continuity constraints based on continuous assumption of freeform surfaces.•Data association method for featureless depth measurement.•Map optimization module for merging featureless marginalized point clouds.•Low-drift and real-time RGB-D inertial odometry for climbing robots.•It outperforms other state-of-the-art RGB-D inertial odometry or SLAM systems.