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Planar-Based Visual Inertial Navigation
KTH, School of Electrical Engineering (EES), Signal Processing. KTH, School of Electrical Engineering (EES), Centres, ACCESS Linnaeus Centre.
KTH, School of Electrical Engineering (EES), Signal Processing.ORCID iD: 0000-0002-2718-0262
2015 (English)In: Localization and GNSS (ICL-GNSS), 2015 International Conference on, IEEE conference proceedings, 2015, 1-8 p.Conference paper (Refereed)
Abstract [en]

This paper investigates the problem of visual-inertialnavigation. The proposed navigation system integrates inertialinformation from an inertial measurement unit (IMU) withvisual data from a camera to provide relative pose estimationfor a system which is navigating in an unknown structuralenvironment. The main contribution of this paper is derivationof a novel measurement model based on inertial data and visualplanar features. The proposed formulation is a solution to the6-DoF motion estimation where the IMU-camera movement isnot restricted over a desired navigation plane. Compared toprevious works, which are restricted on using only horizontalplane features, the proposed model is generalized for arbitraryplanar features. The theoretical finding of this study is extensivelyevaluated both with simulation and real world experiments. Thepresented experiments indicate the reliability of the proposedmethod to perform accurate 6-DoF pose estimation.

Place, publisher, year, edition, pages
IEEE conference proceedings, 2015. 1-8 p.
National Category
Electrical Engineering, Electronic Engineering, Information Engineering
URN: urn:nbn:se:kth:diva-172058DOI: 10.1109/ICL-GNSS.2015.7217139ISI: 000380461600006ScopusID: 2-s2.0-84959469576OAI: diva2:845478
International Conference on Localization and GNSS,Gothenburg, Sweden, June 22-24, 2015

QC 20150828

Available from: 2015-08-12 Created: 2015-08-12 Last updated: 2016-08-23Bibliographically approved

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Panahandeh, GhazalehHändel, Peter
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