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 study the impact of noisy sensors on the performance of this closed-form solution. We show that the gyroscope bias, not accounted for in [1], significantly affects the performance of the method. Therefore, we introduce a new method to automatically estimate this bias. Compared to the original method, the new approach now models the gyroscope bias and is robust to it. The performance of the proposed approach is successfully demonstrated on real data from a quadrotor MAV.
Simultaneous state initialization and gyroscope bias calibration in visual inertial aided navigation
2017-01-25
Kaiser, Jacques; Martinelli, Agostino; Fontana, Flavio; Scaramuzza, Davide (2017). Simultaneous state initialization and gyroscope bias calibration in visual inertial aided navigation. IEEE Robotics and Automation Letters, 2(1):18-25.
Aufsatz (Zeitschrift)
Elektronische Ressource
Englisch
Department of Informatics , 000 Computer science , knowledge & systems , calibration , filtering theory , gyroscopes , inertial navigation , mobile robots , optimisation , sensor fusion , space vehicles , autonomous mobile robots , closed-form solution , filter-based algorithms , gyroscope bias calibration , image features , inertial measurements , metric units , micro aerial vehicles , monocular camera , noisy sensors , optimization-based algorithms , quadrotor MAV , simultaneous state initialization , visual inertial aided navigation , Cameras , Closed-form solutions , Linear systems , Robot sensing systems , Visualization , Localization , Visual-Based Navigation
DDC: | 629 |
NAVIGATION SYSTEM WITH RAPID GNSS AND INERTIAL INITIALIZATION
Europäisches Patentamt | 2016
|Gradiometer-Aided Inertial Navigation
NTIS | 1975
|IEEE | 1986
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