Method for processing feature measurements in vision-aided inertial navigation
First Claim
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1. A mobile platform comprising:
- a) a camera for outputting image data of features with unknown locations, the features being objects, structures, and points, lines, and planes of objects and/or structures;
b) an inertial measurement unit for outputting inertial measurements of the features, wherein the coordinates of the features are unknown;
c) a processor configured to receive the image data and inertial measurements;
d) storage for storing the image data and the inertial measurements; and
e) an extended-Kalman filter-based estimator executable on the processor for processing the inertial measurement and features of the image data, wherein a state vector of the estimator contains a sliding window of states for determining the position and orientation of the mobile platform the state vector updated by computing and factorizing a rank deficient information matrix representing Fisher information provided by the feature measurements, the computed factor being used as the measurement Jacobian for updating the state vector.
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Abstract
A mobile platform having a camera for outputting image data of features with unknown locations, an inertial measurement unit for outputting inertial measurements of the features, where the coordinates of the features are unknown, a processor, storage and an extended-Kalman filter-based estimator executable on the processor for processing the inertial measurement and features of the image data, where a state vector of the estimator contains a sliding window of states for determining the position and orientation of the mobile platform.
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Citations
19 Claims
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1. A mobile platform comprising:
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a) a camera for outputting image data of features with unknown locations, the features being objects, structures, and points, lines, and planes of objects and/or structures; b) an inertial measurement unit for outputting inertial measurements of the features, wherein the coordinates of the features are unknown; c) a processor configured to receive the image data and inertial measurements; d) storage for storing the image data and the inertial measurements; and e) an extended-Kalman filter-based estimator executable on the processor for processing the inertial measurement and features of the image data, wherein a state vector of the estimator contains a sliding window of states for determining the position and orientation of the mobile platform the state vector updated by computing and factorizing a rank deficient information matrix representing Fisher information provided by the feature measurements, the computed factor being used as the measurement Jacobian for updating the state vector. - View Dependent Claims (2, 3, 4, 5)
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6. A method for tracking the position and orientation of a mobile platform, the method comprising the steps of:
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a) receiving at least one image of features from a camera mounted on the mobile platform, the features being objects, structures, and points, lines, and planes of objects and/or structures, wherein the features positions are not known a priori; b) receiving from an inertial measurement unit mounted on the platform inertial measurements of the features, wherein the coordinates of the features are unknown; c) processing the at least one image using the feature state information and the inertial measurements using an extended-Kalman filter-based estimator to determine the value of at least one of position, orientation, and velocity and of the mobile platform; and d) storing the determined value for comparison with new state information; and (e) associating each sliding window of state vectors to a time instant recording of an image, sensor measurements, or both an image and sensor measurements, the state vector updated by computing and factorizing a rank deficient information matrix representing Fisher information provided by the feature measurements, the computed factor being used as the measurement Jacobian for updating the state vector. - View Dependent Claims (7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19)
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Specification