NDLI: A dual-layer estimator architecture for long-term localization

Content Provider	IEEE Xplore Digital Library
Author	Mourikis, A.I. Roumeliotis, S.I.
Copyright Year	2008
Description	Author affiliation: Dept. of Comput. Sci. & Eng., Univ. of Minnesota, NM (Mourikis, A.I.; Roumeliotis, S.I.)
Abstract	In this paper, we present a localization algorithm for estimating the 3D position and orientation (pose) of a moving vehicle based on visual and inertial measurements. The main advantage of the proposed method is that it provides precise pose estimates at low computational cost. This is achieved by introducing a two-layer estimation architecture that processes measurements based on their information content. Inertial measurements and feature tracks between consecutive images are processed locally in the first layer (multi-state-constraint Kalman filter) providing estimates for the motion of the vehicle at a high rate. The second layer comprises a bundle adjustment iterative estimator that operates intermittently so as to (i) reduce the effect of the linearization errors, and (ii) update the state estimates every time an area is re-visited and features are re-detected (loop closure). Through this process reliable state estimates are available continuously, while the estimation errors remain bounded during long-term operation. The performance of the developed system is demonstrated in large-scale experiments, involving a vehicle localizing within an urban area.
Starting Page	1
Ending Page	8
File Size	477395
Page Count	8
File Format	PDF
ISBN	9781424423392
ISSN	21607508
DOI	10.1109/CVPRW.2008.4563131
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2008-06-23
Publisher Place	USA
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Estimation error Tracking Motion estimation Computer architecture Position measurement Computational efficiency Error correction Motion measurement State estimation Vehicles
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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