Observability analysis of a vision-aided inertial navigation system using planar features on the ground
2013 (English)In: 2013 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), IEEE conference proceedings, 2013, 4187-4194 p.Conference paper (Refereed)
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
IEEE conference proceedings, 2013. 4187-4194 p.
, IEEE International Conference on Intelligent Robots and Systems. Proceedings, ISSN 2153-0858
Downward looking, Gravity vectors, Inertial sensor, Observability analysis, Parameter vectors, Real world experiment, State variables, Vision-aided inertial navigation
IdentifiersURN: urn:nbn:se:kth:diva-124370DOI: 10.1109/IROS.2013.6696956ISI: 000331367404038ScopusID: 2-s2.0-84893775956ISBN: 978-146736358-7OAI: oai:DiVA.org:kth-124370DiVA: diva2:634378
2013 26th IEEE/RSJ International Conference on Intelligent Robots and Systems: New Horizon, IROS 2013; Tokyo; Japan; 3 November 2013 through 8 November 2013
QC 201401302013-06-302013-06-302014-04-10Bibliographically approved