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Observability-constrained vision-aided inertial navigation

  • US 9,243,916 B2
  • Filed: 02/21/2014
  • Issued: 01/26/2016
  • Est. Priority Date: 02/21/2013
  • Status: Active Grant
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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