High altitude monocular visual-inertial state estimation: Initialization and sensor fusion

@article{Liu2017HighAM,
  title={High altitude monocular visual-inertial state estimation: Initialization and sensor fusion},
  author={Tianbo Liu and Shaojie Shen},
  journal={2017 IEEE International Conference on Robotics and Automation (ICRA)},
  year={2017},
  pages={4544-4551}
}
Obtaining reliable state estimates at high altitude but GPS-denied environments, such as between high-rise buildings or in the middle of deep canyons, is known to be challenging, due to the lack of direct distance measurements. Monocular visual-inertial systems provide a possible way to recover the metric distance through proper integration of visual and inertial measurements. However, the nonlinear optimization problem for state estimation suffers from poor numerical conditioning or even… CONTINUE READING

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