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On the Consistency of Vision-Aided Inertial Navigation

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Book cover Experimental Robotics

Part of the book series: Springer Tracts in Advanced Robotics ((STAR,volume 88))

Abstract

In this paper, we study estimator inconsistency in Vision-aided Inertial Navigation Systems (VINS). We show that standard (linearized) estimation approaches, such as the Extended Kalman Filter (EKF), can fundamentally alter the system observability properties, in terms of the number and structure of the unobservable directions. This in turn allows the influx of spurious information, leading to inconsistency. To address this issue, we propose an Observability-Constrained VINS (OC-VINS) methodology that explicitly adheres to the observability properties of the true system.We apply our approach to the Multi-State Constraint Kalman Filter (MSC-KF), and provide both simulation and experimental validation of the effectiveness of our method for improving estimator consistency.

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Authors and Affiliations

  1. Dept. of Computer Science and Engineering, Univ. of Minnesota, Minneapolis, MN, 55455, USA

    Dimitrios G. Kottas, Joel A. Hesch, Sean L. Bowman & Stergios I. Roumeliotis

Authors
  1. Dimitrios G. Kottas
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  2. Joel A. Hesch
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  3. Sean L. Bowman
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  4. Stergios I. Roumeliotis
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Corresponding author

Correspondence to Dimitrios G. Kottas .

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Editors and Affiliations

  1. (RAMS) Institute for Systems Research, Maryland Robotics Center, University of Maryland, Room 0160, Bldg 088, Glenn L. Martin Hall, College Park, 20742, Maryland, USA

    Jaydev P. Desai

  2. , Centre for Intelligent Machines, McGill University, Room 419, 3480 University Street, Montreal, H3A 2A7, Québec, Canada

    Gregory Dudek

  3. , Department of Computer Science, Stanford University, Stanford, 94305-9010, California, USA

    Oussama Khatib

  4. , School of Engineering & Applied Science, University of Pennsylvania, 107 Towne Building, 220 South 33rd Street, Philadelphia, 19104-6391, Pennsylvania, USA

    Vijay Kumar

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Kottas, D.G., Hesch, J.A., Bowman, S.L., Roumeliotis, S.I. (2013). On the Consistency of Vision-Aided Inertial Navigation. In: Desai, J., Dudek, G., Khatib, O., Kumar, V. (eds) Experimental Robotics. Springer Tracts in Advanced Robotics, vol 88. Springer, Heidelberg. https://doi.org/10.1007/978-3-319-00065-7_22

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  • DOI: https://doi.org/10.1007/978-3-319-00065-7_22

  • Publisher Name: Springer, Heidelberg

  • Print ISBN: 978-3-319-00064-0

  • Online ISBN: 978-3-319-00065-7

  • eBook Packages: EngineeringEngineering (R0)

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