论文标题
基于速度控制的运动学运动模型的在线校准的可观察性分析
Observability Analysis of Visual-Inertial Odometry with Online Calibration of Velocity-Control Based Kinematic Motion Models
论文作者
论文摘要
在本文中，我们使用具有基于速度控制的基础运动运动模型的立体相机分析了视觉惯性探光仪（VIO）的可观察性。先前的工作表明，在通常的VIO系统中，全球位置和偏航不可观察，此外，如果没有旋转，则滚动和音高也无法观察。我们证明，通过整合平面运动限制卷和音高可以观察到。我们还表明，运动模型的参数是可观察到的。
In this paper, we analyze the observability of the visual-inertial odometry (VIO) using stereo cameras with a velocity-control based kinematic motion model. Previous work shows that in general case the global position and yaw are unobservable in VIO system, additionally the roll and pitch become also unobservable if there is no rotation. We prove that by integrating a planar motion constraint roll and pitch become observable. We also show that the parameters of the motion model are observable.
