I am using typical setup with camera and IMU as found on a smartphone. Using this, I would like to estimate the relative pose between the camera and an object (for simplicity, let's say a cube). The series of measurements contain motion around the object, so a monocular visual-inertial dataset.
Now, related to this usecase I have two questions:
- Which state-of-the-art algorithms would commonly be used to solve such a problem?
- What's a realistic accuracy that could be achieved? (just a rule-of-thumb)