# HybVIO: Pushing the Limits of Real-time Visual-inertial Odometry

arXiv: https://arxiv.org/abs/2106.11857 · HTML: https://mlsanity.com/paper/2106.11857/

## Key facts

- Cited by 8 papers in the map (data through 14 Oct 2026).
- Builds on 17 of its 42 references that are in the map.
- First posted on arXiv 22 Jun 2021.

## Builds on (most cited first, 17 of 17)

- [ORB-SLAM: a Versatile and Accurate Monocular SLAM System](https://mlsanity.com/paper/1502.00956/) (2015)
- [ORB-SLAM3: An Accurate Open-Source Library for Visual, Visual-Inertial and Multi-Map SLAM](https://mlsanity.com/paper/2007.11898/) (2020)
- [ORB-SLAM2: an Open-Source SLAM System for Monocular, Stereo and RGB-D Cameras](https://mlsanity.com/paper/1610.06475/) (2016)
- [VINS-Mono: A Robust and Versatile Monocular Visual-Inertial State Estimator](https://mlsanity.com/paper/1708.03852/) (2017)
- [Kimera: an Open-Source Library for Real-Time Metric-Semantic Localization and Mapping](https://mlsanity.com/paper/1910.02490/) (2019)
- [The TUM VI Benchmark for Evaluating Visual-Inertial Odometry](https://mlsanity.com/paper/1804.06120/) (2018)
- [On-Manifold Preintegration for Real-Time Visual-Inertial Odometry](https://mlsanity.com/paper/1512.02363/) (2015)
- [OpenVSLAM: A Versatile Visual SLAM Framework](https://mlsanity.com/paper/1910.01122/) (2019)
- [VINet: Visual-Inertial Odometry as a Sequence-to-Sequence Learning Problem](https://mlsanity.com/paper/1701.08376/) (2017)
- [Visual-Inertial Mapping with Non-Linear Factor Recovery](https://mlsanity.com/paper/1904.06504/) (2019)
- [Direct Sparse Visual-Inertial Odometry using Dynamic Marginalization](https://mlsanity.com/paper/1804.05625/) (2018)
- [Robust Stereo Visual Inertial Odometry for Fast Autonomous Flight](https://mlsanity.com/paper/1712.00036/) (2017)
- [Online Temporal Calibration for Monocular Visual-Inertial Systems](https://mlsanity.com/paper/1808.00692/) (2018)
- [Inertial-Only Optimization for Visual-Inertial Initialization](https://mlsanity.com/paper/2003.05766/) (2020)
- [Inertial Odometry on Handheld Smartphones](https://mlsanity.com/paper/1703.00154/) (2017)
- [Accurate Monocular Visual-inertial SLAM using a Map-assisted EKF Approach](https://mlsanity.com/paper/1706.03648/) (2017)
- [PIVO: Probabilistic Inertial-Visual Odometry for Occlusion-Robust Navigation](https://mlsanity.com/paper/1708.00894/) (2017)

## Built on by (most cited first, 8 of 8)

- [Learning Generalizable Feature Fields for Mobile Manipulation](https://mlsanity.com/paper/2403.07563/) (2024)
- [Gaussian Splatting on the Move: Blur and Rolling Shutter Compensation for Natural Camera Motion](https://mlsanity.com/paper/2403.13327/) (2024)
- [The Hilti SLAM Challenge Dataset](https://mlsanity.com/paper/2109.11316/) (2021)
- [The Monado SLAM Dataset for Egocentric Visual-Inertial Tracking](https://mlsanity.com/paper/2508.00088/) (2025)
- [SLAG: Scalable Language-Augmented Gaussian Splatting](https://mlsanity.com/paper/2505.08124/) (2025)
- [Expansion of Visual Hints for Improved Generalization in Stereo Matching](https://mlsanity.com/paper/2211.00392/) (2022)
- [ESGNN: Towards Equivariant Scene Graph Neural Network for 3D Scene Understanding](https://mlsanity.com/paper/2407.00609/) (2024)
- [A Look at Improving Robustness in Visual-inertial SLAM by Moment Matching](https://mlsanity.com/paper/2205.13821/) (2022)

## Abstract (arXiv)

We present HybVIO, a novel hybrid approach for combining filtering-based visual-inertial odometry (VIO) with optimization-based SLAM. The core of our method is highly robust, independent VIO with improved IMU bias modeling, outlier rejection, stationarity detection, and feature track selection, which is adjustable to run on embedded hardware. Long-term consistency is achieved with a loosely-coupled SLAM module. In academic benchmarks, our solution yields excellent performance in all categories, especially in the real-time use case, where we outperform the current state-of-the-art. We also demonstrate the feasibility of VIO for vehicular tracking on consumer-grade hardware using a custom dataset, and show good performance in comparison to current commercial VISLAM alternatives. An open-source implementation of the HybVIO method is available at https://github.com/SpectacularAI/HybVIO