This paper presents an efficient and accurate range-aided visual-inertial odometry (RVIO) system for the global positioning system denied environment. In particular, the ultra-wideband (UWB) measurements are integrated to reduce the long-term drift of the visual-inertial odometry (VIO) system. Our approach starts with a filter-based scheme to localize the unknown UWB anchor in the local world frame. In particular, a novel surface-based particle filter is proposed to localize the UWB anchors efficiently. When the initialization is complete, the UWB location information is utilized to support the subsequent long-term robot positioning. An observability-constrained optimization approach is developed to combine the visual, inertial, and UWB range measurements. Such a framework takes advantage of both VIO and UWB measurements and is feasible even when the number of observed UWB anchors is below four. Experiments on both simulated and real-world scenes demonstrate the validity and superiority of the proposed system.


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    Title :

    RVIO: An Effective Localization Algorithm for Range-Aided Visual-Inertial Odometry System


    Contributors:
    Wang, Jun (author) / Gu, Pengfei (author) / Wang, Lei (author) / Meng, Ziyang (author)


    Publication date :

    2024-02-01


    Size :

    2741993 byte




    Type of media :

    Article (Journal)


    Type of material :

    Electronic Resource


    Language :

    English



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