DRIVE DEVICE, VEHICLE, AND METHOD FOR AUTOMATED DRIVING AND/OR ASSISTED DRIVING

This invention refers to vehicle () comprising an inertial measurement unit () configured to output inertial related data, a wheel odometry unit () configured to output position related data, an electromagnetic sensor unit () configured to output first image data and second image data that is previous image data of the first image data, and a visual odometry part () configured to receive the inertial related data, the position related data, the first image data, and the second image data and to output an estimated pose of the vehicle () computed by associating a first feature point extracted from the first image data with a second feature point extracted from the second image data and evaluating the association of first feature point and second feature point based on the inertial related data from the inertial measurement unit () and the position related data from wheel odometry.