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. [...] Key Method The vision-aided inertial navigation algorithm we propose has computational complexity only linear in the number of features, and is capable of high-precision pose estimation in large-scale real-world environments. The performance of the algorithm is demonstrated in extensive experimental results, involving a camera/IMU system localizing within an urban area.Expand
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