Camera-IMU-based localization: Observability analysis and consistency improvement

On 'A Kalman Filter-Based Algorithm for IMU-Camera Calibration: Observability Analysis and Performance Evaluation'

 The above-mentioned work [1] presented an extended Kalman filter for calibrating the misalignment between a camera and an IMU. As one of the main contributions, the locally weakly observable analysis was carried out using Lie derivatives. The seminal paper [1] is undoubtedly the cornerstone of current observability work in SLAM and a number of real SLAM systems have been developed on the obse...

Visual-Inertial Sensor Fusion: Localization, Mapping and Sensor-to-Sensor Self-calibration

Visual and inertial sensors, in combination, are able to provide accurate motion estimates and are well-suited for use in many robot navigation tasks. However, correct data fusion, and hence overall performance, depends on careful calibration of the rigid body transform between the sensors. Obtaining this calibration information is typically difficult and time-consuming, and normally requires a...

IMU-Camera Calibration: Observability Analysis

On the Observability and Self-Calibration of Visual-Inertial Navigation Systems

We examine the observability properties of visual-inertial navigation systems, with an emphasis on self-calibration of the six degrees-of-freedom rigid body transform between a camera and an inertial measurement unit (IMU). Our analysis depends on a differential geometric formulation of the calibration problem, and on an algebraic test for the ‘observability rank condition’, originally defined ...

Survey of Accuracy Improvement Approaches for Tightly Coupled ToA/IMU Personal Indoor Navigation System

In this work we present the personal indoor navigation system based on ranges measurements with Time of Arrival (ToA) principle and Inertial Measurement Unit (IMU). Survey of accuracy improvement approaches including monocular camera Simultaneous Localization an Mapping (SLAM) and WiFi SLAM is provided. Provided experimental results show that integration of data from various navigation systems ...