Invention Grant
- Patent Title: Observability-constrained vision-aided inertial navigation
- Patent Title (中): 视觉辅助惯性导航
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Application No.: US14186597Application Date: 2014-02-21
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Publication No.: US09243916B2Publication Date: 2016-01-26
- Inventor: Stergios I. Roumeliotis , Dimitrios G. Kottas , Chao Guo , Joel Hesch
- Applicant: Regents of the University of Minnesota
- Applicant Address: US MN Minneapolis
- Assignee: Regents of the University of Minnesota
- Current Assignee: Regents of the University of Minnesota
- Current Assignee Address: US MN Minneapolis
- Agency: Shumaker & Sieffert, P.A.
- Main IPC: G06F7/70
- IPC: G06F7/70 ; G06F19/00 ; G06G7/00 ; G06G7/76 ; G01C21/16
Abstract:
This disclosure describes techniques for reducing or eliminating estimator inconsistency in vision-aided inertial navigation systems (VINS). For example, an observability-constrained VINS (OC-VINS) is described which enforce the unobservable directions of the system to prevent spurious information gain and reduce inconsistency.
Public/Granted literature
- US20140316698A1 OBSERVABILITY-CONSTRAINED VISION-AIDED INERTIAL NAVIGATION Public/Granted day:2014-10-23
Information query
