Detecting and dealing with hovering maneuvers in vision-aided inertial navigation systems

Abstract

In this paper, we study the problem of hovering (i.e., absence of translational motion) detection and compensation in Vision-aided Inertial Navigation Systems (VINS). We examine the system's unobservable directions for two common hovering conditions (with and without rotational motion) and propose a robust motion-classification algorithm, based on both… (More)
DOI: 10.1109/IROS.2013.6696807

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