Delayed fusion for real-time vision-aided inertial navigation

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• 作者：Ehsan Asadi ; Carlo L. Bottasso
• 关键词：Delayed fusion ; Vision ; aided inertial navigation system ; Larsen method ; Delayed state EKF ; Recalculation
• 刊名：Journal of Real-Time Image Processing
• 出版年：2015
• 出版时间：December 2015
• 年：2015
• 卷：10
• 期：4
• 页码：633-646
• 全文大小：2,789 KB
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• 作者单位：Ehsan Asadi (1)
  Carlo L. Bottasso (1) (2)
  
  1. Department of Aerospace Science and Technology, Politecnico di Milano, Milano, Italy
  2. Wind Energy Institute, Technische Universit盲t M眉nchen, Garching bei M眉nchen, Germany
  
• 刊物类别：Computer Science
• 刊物主题：Image Processing and Computer Vision
  Multimedia Information Systems
  Computer Graphics
  Pattern Recognition
  Signal,Image and Speech Processing
  
• 出版者：Springer Berlin / Heidelberg
• ISSN：1861-8219

文摘

In this paper, we consider the effects of delay caused by real-time image acquisition and feature tracking in a previously documented vision-augmented inertial navigation system. At first, the paper illustrates how delay caused by image processing, if not explicitly taken into account, can lead to appreciable performance degradation of the estimator. Next, three different existing methods of delayed fusion and a novel combined one are considered and compared. Simulations and Monte Carlo analyses are used to assess the estimation errors and computational effort of the various methods. Finally, a best performing formulation is identified that properly handles the fusion of delayed measurements in the estimator without increasing the time burden of the filter. Keywords Delayed fusion Vision-aided inertial navigation system Larsen method Delayed state EKF Recalculation