Optimization-Based VINS: Consistency, Marginalization, and FEJ

In this work, we present a comprehensive analysis of the application of the First-estimates Jacobian (FEJ) design methodology in nonlinear optimization-based Visual-Inertial Navigation Systems (VINS). The FEJ approach fixes system linearization points to preserve proper observability properties of V...

Full description

Bibliographic Details

Published in:	Proceedings of the ... IEEE/RSJ International Conference on Intelligent Robots and Systems pp. 1517 - 1524
Main Authors:	Chen, Chuchu, Geneva, Patrick, Peng, Yuxiang, Lee, Woosik, Huang, Guoquan
Format:	Conference Proceeding
Language:	English
Published:	IEEE 01.10.2023
Subjects:	Design methodology Estimation Guidelines Intelligent robots Jacobian matrices Navigation Observability
ISSN:	2153-0866
Online Access:	Get full text
Tags:	Add Tag No Tags, Be the first to tag this record!