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Titel:

Information Filtering with Submaps for Inertial Aided Visual Odometry

Dokumenttyp:
Zeitschriftenaufsatz
Autor(en):
Kleinert, M; Stilla, U
Abstract:
This work is concerned with the fusion of inertial measurements (accelerations and angular velocities) with imagery data (feature points extracted in a video stream) in a recursive bundle adjustment framework for indoor position and attitude estimation. Recursive processing is achieved by a combination of local submaps and the Schur complement. The Schur complement is used to reduce the problem size at regular intervals while retaining the information provided by past measurements. Local submaps...     »
Stichworte:
Indoor Positioning, Inertial Aided Visual Odometry, Bundle Adjustment, Submapping
Zeitschriftentitel:
ISPRS Annals of the Photogrammetry, Remote Sensing and Spatial Information Sciences
Jahr:
2015
Band / Volume:
2
Heft / Issue:
3
Seitenangaben Beitrag:
87
Volltext / DOI:
doi:10.5194/isprsannals-II-3-W4-87-2015
WWW:
http://publica.fraunhofer.de/eprints/urn_nbn_de_0011-n-3364355.pdf
Verlag / Institution:
Copernicus GmbH
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