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State-of-the-art forward facing monocular visual-inertial odometry algorithmsare often brittle in practice, especially whilst dealing with initialisationand motion in directions that render the state unobservable. In such caseshaving a reliable complementary odometry algorithm enables robust and resilientflight. Using the common local planarity assumption, we present a fast, dense,and direct frame-to-frame visual-inertial odometry algorithm for downwardfacing cameras that minimises a joint cost function involving a homographybased photometric cost and an IMU regularisation term. Via extensive evaluationin a variety of scenarios we demonstrate superior performance than existingstate-of-the-art downward facing odometry algorithms for Micro Aerial Vehicles(MAVs).

RaD-VIO: Rangefinder-aided Downward Visual-Inertial Odometry