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METHOD FOR PROCESSING FEATURE MEASUREMENTS IN VISION-AIDED INERTIAL NAVIGATION

  • US 20160161260A1
  • Filed: 07/23/2014
  • Published: 06/09/2016
  • Est. Priority Date: 07/23/2013
  • Status: Active Grant
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.

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