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Observability Analysis of a Vision-aided Inertial Navigation System Using Planar Features on the Ground: Supplemental Material
KTH, School of Electrical Engineering (EES), Signal Processing. KTH, School of Electrical Engineering (EES), Centres, ACCESS Linnaeus Centre.
University of Minnesota, Minneapolis.
KTH, School of Electrical Engineering (EES), Signal Processing. KTH, School of Electrical Engineering (EES), Centres, ACCESS Linnaeus Centre.ORCID iD: 0000-0002-6855-5868
University of Minnesota, Minneapolis.
2013 (English)Report (Other academic)
Abstract [en]

In this paper, we present an observability analysis of a vision-aided inertial navigation system (VINS) in which the camera is downward looking and observes a single point feature on the ground. In our analysis, the full INS parameter vector (including position, velocity, rotation, and inertial sensor biases) as well as the 3D position of the observed point feature are considered as state variables. In particular, we prove that the system has only three unobservable directions corresponding to global translations along the x and y axes, and rotations around the gravity vector. Hence, compared to general VINS, an advantage of using only ground features is that the vertical translation becomes observable. The findings of the theoretical analysis are validated through real-world experiments.

Place, publisher, year, edition, pages
KTH Royal Institute of Technology, 2013. , 18 p.
National Category
Robotics
Identifiers
URN: urn:nbn:se:kth:diva-124655OAI: oai:DiVA.org:kth-124655DiVA: diva2:638147
Note

QC 20130726

Available from: 2013-07-26 Created: 2013-07-26 Last updated: 2014-01-30Bibliographically approved

Open Access in DiVA

pdf(882 kB)201 downloads
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Jansson, Magnus

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CiteExportLink to record
Permanent link

Direct link
Cite
Citation style
  • apa
  • harvard1
  • ieee
  • modern-language-association-8th-edition
  • vancouver
  • Other style
More styles
Language
  • de-DE
  • en-GB
  • en-US
  • fi-FI
  • nn-NO
  • nn-NB
  • sv-SE
  • Other locale
More languages
Output format
  • html
  • text
  • asciidoc
  • rtf