论文标题
xvio：范围 - 视觉惯性探测框架
xVIO: A Range-Visual-Inertial Odometry Framework
论文作者
论文摘要
XVIO是JPL上实施的一种视觉惯性探射算法。它已通过封闭环控制器在板载无人驾驶旋翼飞机上证明，配备了现成的嵌入式计算机和传感器。它可以在白天使用可见的光谱摄像机或使用热红外摄像机在夜间运行。该报告是XVIO的完整技术描述。它包括系统体系结构的概述，导航过滤器的实现以及雅各布矩阵的派生，这些矩阵尚未在文献中发表。
xVIO is a range-visual-inertial odometry algorithm implemented at JPL. It has been demonstrated with closed-loop controls on-board unmanned rotorcraft equipped with off-the-shelf embedded computers and sensors. It can operate at daytime with visible-spectrum cameras, or at night time using thermal infrared cameras. This report is a complete technical description of xVIO. It includes an overview of the system architecture, the implementation of the navigation filter, along with the derivations of the Jacobian matrices which are not already published in the literature.
