Simultaneous State Initialization and Gyroscope Bias Calibration in Visual Inertial Aided Navigation
Sign Up to like & getrecommendations! Published in 2017 at "IEEE Robotics and Automation Letters"
DOI: 10.1109/lra.2016.2521413
Abstract: State of the art approaches for visual-inertial sensor fusion use filter-based or optimization-based algorithms. Due to the nonlinearity of the system, a poor initialization can have a dramatic impact on the performance of these estimation… read more here.
Keywords: gyroscope bias; state; initialization; performance ... See more keywords
A Robust and Efficient Visual-Inertial Initialization With Probabilistic Normal Epipolar Constraint
Sign Up to like & getrecommendations! Published in 2024 at "IEEE Robotics and Automation Letters"
DOI: 10.1109/lra.2025.3544522
Abstract: Accurate and robust initialization is essential for Visual-Inertial Odometry (VIO), as poor initialization can severely degrade pose accuracy. During initialization, it is crucial to estimate parameters such as accelerometer bias, gyroscope bias, initial velocity, gravity,… read more here.
Keywords: gravity; initialization; normal epipolar; probabilistic normal ... See more keywords