Publication: Simultaneous state initialization and gyroscope bias calibration in visual inertial aided navigation
Simultaneous state initialization and gyroscope bias calibration in visual inertial aided navigation
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Kaiser, J., Martinelli, A., Fontana, F., & Scaramuzza, D. (2017). Simultaneous state initialization and gyroscope bias calibration in visual inertial aided navigation. IEEE Robotics and Automation Letters, 2(1), 18–25. https://doi.org/10.1109/LRA.2016.2521413
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State of the art approaches for visual-inertial sensor fusion use filter-based or optimization-based algorithms. Due to the nonlinearity of the system, a poor initialization can have a dramatic impact on the performance of these estimation methods. Recently, a closed-form solution providing such an initialization was derived in [1]. That solution determines the velocity (angular and linear) of a monocular camera in metric units by only using inertial measurements and image features acquired in a short time interval. In this letter, we
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- Kaiser, Jacques
- Martinelli, Agostino
- Fontana, Flavio
- Scaramuzza, Davide
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Kaiser, J., Martinelli, A., Fontana, F., & Scaramuzza, D. (2017). Simultaneous state initialization and gyroscope bias calibration in visual inertial aided navigation. IEEE Robotics and Automation Letters, 2(1), 18–25. https://doi.org/10.1109/LRA.2016.2521413
