NDLI: Towards consistent visual-inertial navigation

Content Provider	IEEE Xplore Digital Library
Author	Guoquan Huang Kaess, M. Leonard, J.J.
Copyright Year	2014
Description	Author affiliation: Robot. Inst., Carnegie Mellon Univ., Pittsburgh, PA, USA (Kaess, M.) \|\| Comput. Sci. & Artificial Intell. Lab., Massachusetts Inst. of Technol., Cambridge, MA, USA (Guoquan Huang; Leonard, J.J.)
Abstract	Visual-inertial navigation systems (VINS) have prevailed in various applications, in part because of the complementary sensing capabilities and decreasing costs as well as sizes. While many of the current VINS algorithms undergo inconsistent estimation, in this paper we introduce a new extended Kalman filter (EKF)-based approach towards consistent estimates. To this end, we impose both state-transition and obervability constraints in computing EKF Jacobians so that the resulting linearized system can best approximate the underlying nonlinear system. Specifically, we enforce the propagation Jacobian to obey the semigroup property, thus being an appropriate state-transition matrix. This is achieved by parametrizing the orientation error state in the global, instead of local, frame of reference, and then evaluating the Jacobian at the propagated, instead of the updated, state estimates. Moreover, the EKF linearized system ensures correct observability by projecting the most-accurate measurement Jacobian onto the observable subspace so that no spurious information is gained. The proposed algorithm is validated by both Monte-Carlo simulation and real-world experimental tests.
Starting Page	4926
Ending Page	4933
File Size	921196
Page Count	8
File Format	PDF
ISBN	9781479936854
DOI	10.1109/ICRA.2014.6907581
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2014-05-31
Publisher Place	China
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Jacobian matrices Observability Standards Q measurement Cameras Measurement uncertainty Robot sensing systems
Content Type	Text
Resource Type	Article

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3	National Digital Library of India Office, Indian Institute of Technology Kharagpur	The administrative and infrastructural headquarters of the project	Dr. B. Sutradhar bsutra@ndl.gov.in
4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
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