CROSS-COVARIANCE ESTIMATION FOR EKF-BASED INERTIAL AIDED MONOCULAR SLAM
Repeated observation of several characteristically textured surface elements allows the reconstruction of the camera trajectory and a sparse point cloud which is often referred to as "map". The extended Kalman filter (EKF) is a popular method to address this problem, especially if real-tim...
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| Format: | Article |
| Language: | English |
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Copernicus Publications
2013-04-01
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| Series: | The International Archives of the Photogrammetry, Remote Sensing and Spatial Information Sciences |
| Online Access: | http://www.int-arch-photogramm-remote-sens-spatial-inf-sci.net/XXXVIII-3-W22/91/2011/isprsarchives-XXXVIII-3-W22-91-2011.pdf |
| _version_ | 1818043819608768512 |
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| author | M. Kleinert U. Stilla |
| author_facet | M. Kleinert U. Stilla |
| author_sort | M. Kleinert |
| collection | DOAJ |
| description | Repeated observation of several characteristically textured surface elements allows the reconstruction of the camera trajectory and a
sparse point cloud which is often referred to as "map". The extended Kalman filter (EKF) is a popular method to address this problem,
especially if real-time constraints have to be met. Inertial measurements as well as a parameterization of the state vector that conforms
better to the linearity assumptions made by the EKF may be employed to reduce the impact of linearization errors. Therefore, we adopt
an inertial-aided monocular SLAM approach where landmarks are parameterized in inverse depth w.r.t. the coordinate system in which
they were observed for the first time. In this work we present a method to estimate the cross-covariances between landmarks which are
introduced in the EKF state vector for the first time and the old filter state that can be applied in the special case at hand where each
landmark is parameterized w.r.t. an individual coordinate system. |
| first_indexed | 2024-12-10T09:08:16Z |
| format | Article |
| id | doaj.art-044800360a78459a843a5f25436743ab |
| institution | Directory Open Access Journal |
| issn | 1682-1750 2194-9034 |
| language | English |
| last_indexed | 2024-12-10T09:08:16Z |
| publishDate | 2013-04-01 |
| publisher | Copernicus Publications |
| record_format | Article |
| series | The International Archives of the Photogrammetry, Remote Sensing and Spatial Information Sciences |
| spelling | doaj.art-044800360a78459a843a5f25436743ab2022-12-22T01:55:05ZengCopernicus PublicationsThe International Archives of the Photogrammetry, Remote Sensing and Spatial Information Sciences1682-17502194-90342013-04-01XXXVIII-3/W22919610.5194/isprsarchives-XXXVIII-3-W22-91-2011CROSS-COVARIANCE ESTIMATION FOR EKF-BASED INERTIAL AIDED MONOCULAR SLAMM. Kleinert0U. Stilla1Fraunhofer IOSB, Department Scene Analysis, Gutleuthausstr. 1, 76275 Ettlingen, GermanyTechnische Universität München, Photogrammetry and Remote Sensing, Arcisstrasse 21, 80333 München, GermanyRepeated observation of several characteristically textured surface elements allows the reconstruction of the camera trajectory and a sparse point cloud which is often referred to as "map". The extended Kalman filter (EKF) is a popular method to address this problem, especially if real-time constraints have to be met. Inertial measurements as well as a parameterization of the state vector that conforms better to the linearity assumptions made by the EKF may be employed to reduce the impact of linearization errors. Therefore, we adopt an inertial-aided monocular SLAM approach where landmarks are parameterized in inverse depth w.r.t. the coordinate system in which they were observed for the first time. In this work we present a method to estimate the cross-covariances between landmarks which are introduced in the EKF state vector for the first time and the old filter state that can be applied in the special case at hand where each landmark is parameterized w.r.t. an individual coordinate system.http://www.int-arch-photogramm-remote-sens-spatial-inf-sci.net/XXXVIII-3-W22/91/2011/isprsarchives-XXXVIII-3-W22-91-2011.pdf |
| spellingShingle | M. Kleinert U. Stilla CROSS-COVARIANCE ESTIMATION FOR EKF-BASED INERTIAL AIDED MONOCULAR SLAM The International Archives of the Photogrammetry, Remote Sensing and Spatial Information Sciences |
| title | CROSS-COVARIANCE ESTIMATION FOR EKF-BASED INERTIAL AIDED MONOCULAR SLAM |
| title_full | CROSS-COVARIANCE ESTIMATION FOR EKF-BASED INERTIAL AIDED MONOCULAR SLAM |
| title_fullStr | CROSS-COVARIANCE ESTIMATION FOR EKF-BASED INERTIAL AIDED MONOCULAR SLAM |
| title_full_unstemmed | CROSS-COVARIANCE ESTIMATION FOR EKF-BASED INERTIAL AIDED MONOCULAR SLAM |
| title_short | CROSS-COVARIANCE ESTIMATION FOR EKF-BASED INERTIAL AIDED MONOCULAR SLAM |
| title_sort | cross covariance estimation for ekf based inertial aided monocular slam |
| url | http://www.int-arch-photogramm-remote-sens-spatial-inf-sci.net/XXXVIII-3-W22/91/2011/isprsarchives-XXXVIII-3-W22-91-2011.pdf |
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