Article ID Journal Published Year Pages File Type
849847 Optik - International Journal for Light and Electron Optics 2014 8 Pages PDF
Abstract

A matrix Kalman filter (MKF) has been implemented for a navigation system using point-based visual and inertial sensors. The observability conditions have been proved by the observability rank criterion based on Lie derivatives. The conditions are: (a) at least one degree of rotational freedom is excited and (b) at least three observed points are not collinear where any two points are linearly independent. Experimental results have demonstrated that the proposed algorithm obtains the same accurate as the line-based algorithm.

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Physical Sciences and Engineering Engineering Engineering (General)
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