Observability-constrained vision-aided inertial navigation
First Claim
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1. A vision-aided inertial navigation system comprising:
- at least one image source to produce image data for an environment;
an inertial measurement unit (IMU) to produce IMU data indicative of motion of the vision-aided inertial navigation system; and
a hardware-based processor configured to execute an estimator that computes state estimates for the vision-aided inertial navigation system based on the image data and the IMU data,wherein the estimator applies a constrained estimation algorithm that computes the state estimates based on the IMU data and the image data while preventing projection of information from the image data and IMU data along at least one unobservable degrees of freedom for the vision-aided inertial navigation system.
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Abstract
This disclosure describes techniques for reducing or eliminating estimator inconsistency in vision-aided inertial navigation systems (VINS). For example, an observability-constrained VINS (OC-VINS) is described which enforce the unobservable directions of the system to prevent spurious information gain and reduce inconsistency.
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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 for an environment; an inertial measurement unit (IMU) to produce IMU data indicative of motion of the vision-aided inertial navigation system; and a hardware-based processor configured to execute an estimator that computes state estimates for the vision-aided inertial navigation system based on the image data and the IMU data, wherein the estimator applies a constrained estimation algorithm that computes the state estimates based on the IMU data and the image data while preventing projection of information from the image data and IMU data along at least one unobservable degrees of freedom for the vision-aided inertial navigation system. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 21)
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15. A method comprising:
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receiving image data captured by an image source of a sensing device; receiving, from an inertial measurement unit (IMU) of the sensing device, inertial measurement data indicative of motion of the sensing device; and computing state estimates for the sensing device based on the image data captured by the image source and the inertial measurement data indicative of the motion of the sensing device, wherein computing the state estimates comprises applying a constrained estimation algorithm to prevent projection of information from the image data and IMU data along at least one of the unobservable degrees of freedom of the sensing device. - View Dependent Claims (16, 17, 18, 19, 22)
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20. A non-transitory computer-readable storage medium comprising program code that causes a processor of a computing device to:
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receive image data captured by an image source of a sensing device; receive, from an inertial measurement unit (IMU) of the sensing device, inertial measurement data indicative of motion of the sensing device; and compute state estimates the sensing device based on the image data captured by the image source and the inertial measurement data indicative of the motion of the sensing device, wherein computing the state estimates comprises applying a constrained estimation algorithm to compute the state estimates based on the IMU data and the image data while preventing projection of information from the image data and IMU data along at least one unobservable degrees of freedom for the sensing device.
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Specification