A Multi-State Constraint Kalman Filter for Vision-aided Inertial Navigation

@article{Mourikis2007AMC,
  title={A Multi-State Constraint Kalman Filter for Vision-aided Inertial Navigation},
  author={Anastasios I. Mourikis and Stergios I. Roumeliotis},
  journal={Proceedings 2007 IEEE International Conference on Robotics and Automation},
  year={2007},
  pages={3565-3572}
}
In this paper, we present an extended Kalman filter (EKF)-based algorithm for real-time vision-aided inertial navigation. The primary contribution of this work is the derivation of a measurement model that is able to express the geometric constraints that arise when a static feature is observed from multiple camera poses. This measurement model does not require including the 3D feature position in the state vector of the EKF and is optimal, up to linearization errors. The vision-aided inertial… CONTINUE READING
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