A Square Root Inverse Filter for Efficient Vision-aided Inertial Navigation on Mobile Devices

Autor: Georgios A. Georgiou, Ahmed M. Ahmed, Stergios I. Roumeliotis, Kejian J. Wu
Rok vydání: 2015
Předmět:
Zdroj: Robotics: Science and Systems
DOI: 10.15607/rss.2015.xi.008
Popis: In this paper, we present a square-root inverse sliding window filter (SR-ISWF) for vision-aided inertial navigation systems (VINS). While regular inverse filters suffer from numerical issues, employing their square-root equivalent enables the usage of single-precision number representations, thus achieving considerable speed ups as compared to doubleprecision alternatives on resource-constrained mobile platforms. Besides a detailed description of the SR-ISWF for VINS, which focuses on the numerical procedures that enable exploiting the problem’s structure for gaining in efficiency, this paper presents a thorough validation of the algorithm’s processing requirements and achieved accuracy. In particular, experiments are conducted using a commercial-grade cell phone, where the proposed algorithm is shown to achieve the same level of estimation accuracy, when compared to state-of-the-art VINS algorithms, with significantly higher speed.
Databáze: OpenAIRE