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导远INS570D的ros驱动
看很多伙伴用导远的INS570D跑LIO_SAM,有些小伙伴不知道怎么写ros驱动,写了个驱动,跑了下LIO_SAM,可以运行,有需要的可以试试看
2021-07-26
VINS论文推倒及代码解析
VINS 的功能模块可包括五个部分:数据预处理、初始化、后端非线性优化、闭环检测及闭环优化。代码中主要开启了四个线程,分别是:前端图像跟踪、后端非线性优化(其中初始化和 IMU 预积分在这个线程中)、闭环检测、闭环优化。
2018-09-13
High-Precision, Consistent EKF-based Visual-Inertial Odometry.pdf
In this paper, we focus on the problem of motion tracking in unknown environments using
visual and inertial sensors.We term this estimation task visual-inertial odometry (VIO), in analogy
to the well-known visual-odometry problem. We present a detailed study of EKF-based VIO
algorithms, by comparing both their theoretical properties and empirical performance. We show
that an EKF formulation where the state vector comprises a sliding window of poses (the MSCKF
algorithm) attains better accuracy, consistency, and computational efficiency than the SLAM
formulation of the EKF, in which the state vector contains the current pose and the features
seen by the camera. Moreover, we prove that both types of EKF approaches are inconsistent,
due to the way in which Jacobians are computed. Specifically, we show that the observability
properties of the EKF’s linearized system models do not match those of the underlying system,
which causes the filters to underestimate the uncertainty in the state estimates. Based on our
analysis, we propose a novel, real-time EKF-based VIO algorithm, which achieves consistent
estimation by (i) ensuring the correct observability properties of its linearized system model, and
(ii) performing online estimation of the camera-to-IMU calibration parameters. This algorithm,
which we term MSCKF 2.0, is shown to achieve accuracy and consistency higher than even
an iterative, sliding-window fixed-lag smoother, in both Monte-Carlo simulations and real-world
testing.
I
2018-02-06
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