Iterative Kalman Smoother for robust 3D localization for vision-aided inertial navigation

Iterative Kalman Smoother for robust 3D localization for vision-aided inertial navigation

A vision-aided inertial navigation system (VINS) is described in which a filter-based sliding-window estimator implements an Iterative Kalman Smoother (IKS) to track the 3D motion of a VINS system, such as a mobile device, in real-time using visual and inertial measurements.

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Bibliographische Detailangaben
Hauptverfasser: Roumeliotis Stergios I, Kottas Dimitrios G
Format: Patent
Sprache:eng
Schlagworte:
CALCULATING
COMPUTING
COUNTING
GYROSCOPIC INSTRUMENTS
HANDLING RECORD CARRIERS
IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
MEASURING
MEASURING DISTANCES, LEVELS OR BEARINGS
NAVIGATION
PHOTOGRAMMETRY OR VIDEOGRAMMETRY
PHYSICS
PRESENTATION OF DATA
RECOGNITION OF DATA
RECORD CARRIERS
SURVEYING
TESTING
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Beschreibung
Zusammenfassung:A vision-aided inertial navigation system (VINS) is described in which a filter-based sliding-window estimator implements an Iterative Kalman Smoother (IKS) to track the 3D motion of a VINS system, such as a mobile device, in real-time using visual and inertial measurements.