Inertial Structure From Motion with Autocalibration
نویسندگان
چکیده
We present a technique to fuse inertial and visual information for real-time navigation applications. The combined model exhibits bounded bias, autocalibrates the camera-to-IMU transformation (eliminating the need for precise measurement or construction), and updates an estimate of the gravity vector. We analyze of the observability of the combined system, and discuss the implementation of a filter to estimate ego-motion from inertial and vision measurements as part of an integrated sensor system.
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