A Combined Visual-Inertial Navigation System of MSCKF And EKF-SLAM

被引：0
|
作者：
Li, Jian [1 ]
Li, Qing [1 ]
Cheng, Nong [1 ]
机构：
[1] Tsinghua Univ, Dept Automat, Beijing 100084, Peoples R China
来源：
2018 IEEE CSAA GUIDANCE, NAVIGATION AND CONTROL CONFERENCE (CGNCC) | 2018年
关键词：
D O I：
暂无
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
This paper presents a navigation architecture combining a monocular camera and inertial measurement unit (IMU). The proposed hybrid estimation framework consist of two complementary algorithms: a Multi-State Constrained Kalman Filter (MSCKF) and EKF-based SLAM. We improve the outlier curling by using two-point RANSAC method in the tracking module and one-point RANSAC method in the EKF measurement part. Experiment shows that the estimator can attain high-accuracy and robust result.
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页数：6
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