Review of visual-inertial navigation system initialization method

被引：0
|
作者：
Liu Z. [1 ]
Shi D. [2 ]
Yang S. [1 ]
Li R. [2 ]
机构：
[1] College of Computer Science and Technology, National University of Defense Technology, Changsha
[2] National Innovation Institute of Defense Technology, Academy of Military Sciences, Beijing
来源：
Guofang Keji Daxue Xuebao/Journal of National University of Defense Technology | 2023年 / 45卷 / 02期
关键词：
inertial measurement processing; initialization; sensor fusion; visual-inertial navigation systems;
D O I：
10.11887/j.cn.202302002
中图分类号：
学科分类号：
摘要：
VINS (visual-inertial navigation systems) solve a series of parameters required for state estimation through initialization, such as scale, gravity vector, velocity, inertial measurement unit′s bias, etc., to improve the accuracy of navigation positioning and environmental perception of the system. The initialization methods of VINS can be divided into three categories according to the sensing information fusing mode:joint initialization, disjoint initialization and semi-joint initialization. Based on the existing research work, the current mainstream initialization methods of VINS were reviewed from four aspects:basic theory, development and classification, existing methods, performance evaluation, and the future development trends were summarized, which is helpful to have a general understanding of VINS initialization methods and grasp its development direction. © 2023 National University of Defense Technology. All rights reserved.
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页码：15 / 26
页数：11
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