Use AE3 for visual inertial odometry

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With a global shutter image sensor and an imu placed centered underneath the image sensor, both are connected to the same MCU. It makes AE3 a ideal hardware for visual inertial odometry. Super thanks to many helpful suggestions from @kwagyeman. I manage to get Kimera-VIO working on Raspberry Pi and OpenMV AE3. Here is a manual flight test video.

Kimera-VIO fusion image and IMU data from AE3 to estimate current pose. Currently, pose data is not send to flight controller yet.
Source code is available at GitHub - chobitsfan/openmv_img_imu · GitHub and GitHub - chobitsfan/Kimera-VIO at openmv_ae3 · GitHub

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This is very cool! If you’d like to share with others, please send a PR with all info and links to your repo here! https://github.com/openmv/openmv-projects