Landsurveying Experiments with commercial visual-inertial odometry systems in partially snow-covered forest environment 31/07/2023 • Janne Matilainen Teuvo Heimonen Visual-inertial odometry (VIO) is a method of estimating the motion of a device in 3D space by combining the information from both visual and inertial sensors. It involves the use of a camera or cameras that capture images of the environment, and an inertial measurement unit (IMU) that provides measurements of the acceleration and rotation of the camera.