Planar-Based Visual Inertial Navigation: Observability Analysis and Motion Estimation
نویسندگان
چکیده
منابع مشابه
Observability Analysis of a Matrix Kalman Filter-Based Navigation System Using Visual/Inertial/Magnetic Sensors
A matrix Kalman filter (MKF) has been implemented for an integrated navigation system using visual/inertial/magnetic sensors. The MKF rearranges the original nonlinear process model in a pseudo-linear process model. We employ the observability rank criterion based on Lie derivatives to verify the conditions under which the nonlinear system is observable. It has been proved that such observabili...
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ژورنال
عنوان ژورنال: Journal of Intelligent & Robotic Systems
سال: 2015
ISSN: 0921-0296,1573-0409
DOI: 10.1007/s10846-015-0257-4