Consistency Analysis and Improvement of Vision-aided Inertial Navigation

  title={Consistency Analysis and Improvement of Vision-aided Inertial Navigation},
  author={Joel A. Hesch and Dimitrios G. Kottas and Sean L. Bowman and Stergios I. Roumeliotis},
  journal={IEEE Transactions on Robotics},
In this paper, we study estimator inconsistency in vision-aided inertial navigation systems (VINS) from the standpoint of system's observability. We postulate that a leading cause of inconsistency is the gain of spurious information along unobservable directions, which results in smaller uncertainties, larger estimation errors, and divergence. We develop an observability constrained VINS (OC-VINS), which explicitly enforces the unobservable directions of the system, hence preventing spurious… CONTINUE READING
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