Computational budget estimation for vision-aided inertial navigation systems
First Claim
1. A vision-aided inertial navigation system comprising:
- at least one image source to produce image data along a trajectory of the vision-aided inertial navigation system (VINS) within an environment, wherein the image data contains a plurality of features observed within the environment at a plurality of poses of the VINS along the trajectory;
an inertial measurement unit (IMU) to produce IMU data indicative of motion of the vision-aided inertial navigation system; and
a hardware-based processing unit executing an estimator that determines, based on the image data and the IMU data, estimates for at least a position and orientation of the vision-aided inertial navigation system for a plurality of poses of the VINS along the trajectory,wherein the estimator determines the estimates by;
computing a budget specifying an amount of resources that can be allocated to state estimations for a current pose of the VINS,classifying, for each of the poses and based on the budget, each of the features observed at the respective pose into either a first set of the features or a second set of the features,maintaining a state vector having states for a position and orientation of the VINS and for positions with the environment for the first set of features for a sliding window of two or more of the most recent poses along the trajectory without maintaining states for positions of the second set of features within the state vector, andcomputing state estimates in accordance with the selected features.
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Abstract
This disclosure describes inverse filtering and square root inverse filtering techniques for optimizing the performance of a vision-aided inertial navigation system (VINS). In one example, instead of keeping all features in the system'"'"'s state vector as SLAM features, which can be inefficient when the number of features per frame is large or their track length is short, an estimator of the VINS may classify the features into either SLAM or MSCKF features. The SLAM features are used for SLAM-based state estimation, while the MSCKF features are used to further constrain the poses in the sliding window. In one example, a square root inverse sliding window filter (SQRT-ISWF) is used for state estimation.
54 Citations
22 Claims
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1. A vision-aided inertial navigation system comprising:
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at least one image source to produce image data along a trajectory of the vision-aided inertial navigation system (VINS) within an environment, wherein the image data contains a plurality of features observed within the environment at a plurality of poses of the VINS along the trajectory; an inertial measurement unit (IMU) to produce IMU data indicative of motion of the vision-aided inertial navigation system; and a hardware-based processing unit executing an estimator that determines, based on the image data and the IMU data, estimates for at least a position and orientation of the vision-aided inertial navigation system for a plurality of poses of the VINS along the trajectory, wherein the estimator determines the estimates by; computing a budget specifying an amount of resources that can be allocated to state estimations for a current pose of the VINS, classifying, for each of the poses and based on the budget, each of the features observed at the respective pose into either a first set of the features or a second set of the features, maintaining a state vector having states for a position and orientation of the VINS and for positions with the environment for the first set of features for a sliding window of two or more of the most recent poses along the trajectory without maintaining states for positions of the second set of features within the state vector, and computing state estimates in accordance with the selected features. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11)
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12. A method comprises:
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producing image data along a trajectory of the vision-aided inertial navigation system (VINS) within an environment, wherein the image data contains a plurality of features observed within the environment at a plurality of poses of the VINS along the trajectory; producing inertial measurement data from an inertial measurement unit (IMU) indicative of motion of the vision-aided inertial navigation system; and computing state estimates for a position and orientation of the vision-aided inertial navigation system for a plurality of poses of the VINS along the trajectory, based on the image data and the IMU data, with a processing unit comprising an estimator, wherein computing the state estimates comprises; computing a budget specifying an amount of resources that can be allocated to state estimations for a current pose of the VINS; classifying, for each of the poses and based on the budget, each of the features observed at the respective pose into either a first set of the features or a second set of the features, maintaining a state vector having states for a position and orientation of the VINS and for positions with the environment for the first set of features for a sliding window of two or more of the most recent poses along the trajectory without maintaining states for positions of the second set of features within the state vector, and computing state estimates in accordance with the selected features. - View Dependent Claims (13, 14, 15, 16, 17, 18, 19, 20, 21, 22)
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Specification