- UMN Researchers
- Georgios A. Georgiou and Stergios Roumeliotis (PI)
- 1. A highly-efficient, sliding-window, vision-aided inertial navigation system (VINS) [e.g., the multi-state constrained Kalman filter (MSCKF), or the square root inverse sliding window filter (SR-ISWF)] that provides high-rate pose estimates using only recent visual and inertial measurements, and
- 2. A BLS optimization algorithm for intermittently refining the pose and map estimates using all, up to that time, visual and inertial measurements.
Trajectory estimate before (left) and after (right) BLS refinement
- Algorithm Description
Processor's view of the trajectory path segments
RMSE wrt ground truth provided by a VICON® system
- Relevant Publications
- C2. K.J. Wu, A.M. Ahmed, G.A. Georgiou, and S.I. Roumeliotis, "A Square Root Inverse Filter for Efficient Vision-aided Inertial Navigation on Mobile Devices," Robotics: Science and Systems (RSS'15), Rome, Italy, July 13-17, 2015 (pdf).
- C1. C.X. Guo, D.G. Kottas, R.C. DuToit, A. Ahmed, R. Li, and S.I. Roumeliotis, "Efficient Visual-Inertial Navigation using a Rolling-Shutter Camera with Inaccurate Timestamps," Robotics: Science and Systems (RSS'14), Berkeley, CA, July 12-16, 2014 (pdf).