Skip navigation
Skip navigation

Deterministic Initialization of Metric State Estimation Filters for Loosely-Coupled Monocular Vision-Inertial Systems

Kneip, Laurent; Weiss, Stephan; Siegwart, Roland

Description

In this work, we present a novel, deterministic closed-form solution for computing the scale factor and the gravity direction of a moving, loosely-coupled, and monocular vision-inertial system. The methodology is based on analysing delta-velocities. On one hand, they are obtained from a differentiation of the up-to-scale camera pose computation by a visual odometry or visual SLAM algorithm. On the other hand, they can also be retrieved from the gravity-affected short-term integration of...[Show more]

CollectionsANU Research Publications
Date published: 2011
Type: Conference paper
URI: http://hdl.handle.net/1885/26564
Source: Proceedings of 2011 IEEE/RSJ International Conference on Intelligent Robots and Systems
DOI: 10.1109/IROS.2011.6094699

Download

File Description SizeFormat Image
01_Kneip_Deterministic_Initialization_2011.pdf438.8 kBAdobe PDF    Request a copy


Items in Open Research are protected by copyright, with all rights reserved, unless otherwise indicated.

Updated:  12 November 2018/ Responsible Officer:  University Librarian/ Page Contact:  Library Systems & Web Coordinator