A nonlinear observer approach for concurrent estimation of pose, IMU bias and camera-to-IMU rotation
A nonlinear observer approach for concurrent estimation of pose, IMU bias and camera-to-IMU rotation
复制标题
用于同时估计位姿、IMU 偏差和相机到 IMU 旋转的非线性观测器方法
DOI：
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发表时间：
2011
期刊：
影响因子：
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通讯作者：
G. Silveira
中科院分区：
文献类型：
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作者：
G. Scandaroli;P. Morin;G. Silveira
研究了一种惯性视觉传感器的姿态估计问题。众所周知，IMU偏差以及相机和IMU帧之间的校准误差会影响通过视觉和惯性数据融合实现高质量估计。这项工作的主要贡献是设计了新的观测器来估计姿态，IMU偏差和相机到IMU的旋转。观测器的设计依赖于所谓的无源互补滤波器在SO(3)上的扩展。在适当的可观测性条件下，利用李雅普诺夫函数建立了观测器的稳定性。给出了实验结果来评估这种方法。
This paper concerns the problem of pose estimation for an inertial-visual sensor. It is well known that IMU bias, and calibration errors between camera and IMU frames can impair the achievement of high-quality estimates through the fusion of visual and inertial data. The main contribution of this work is the design of new observers to estimate pose, IMU bias and camera-to-IMU rotation. The observers design relies on an extension of the so-called passive complementary filter on SO(3). Stability of the observers is established using Lyapunov functions under adequate observability conditions. Experimental results are presented to assess this approach.