Influence of IMU’s quality on VIO: based on MSCKF method

Xianglu Ma; Xiaoshan Yao; Rensong Ding

doi:10.1117/12.2564751

17 April 2020 Influence of IMU’s quality on VIO: based on MSCKF method

Xianglu Ma, Xiaoshan Yao, Rensong Ding

Proceedings Volume 11455, Sixth Symposium on Novel Optoelectronic Detection Technology and Applications; 114553X (2020) https://doi.org/10.1117/12.2564751
Event: Sixth Symposium on Novel Photoelectronic Detection Technology and Application, 2019, Beijing, China

Abstract

Vision inertial odometer (VIO) has been applied for SLAM (Simultaneous Localization and Mapping) this years, such device consists of camera and inertial measurement unit(IMU), and takes advantages of both sensors. When one of sensor’s quality is not as good as the other, we have to trust better one and implement this strategy in our algorithms. In this paper, influences of IMU’s quality on VIO are analyzed, based on ideal IMU’s data and multi-state constraint Kalman filter(MSCKF) method, different levels IMU are implemented in simulation, results show that: for high precision IMU, pure inertial navigation performance is better than VIO; when it comes to medium precision IMU, VIO performance are better if more features are tracked by camera. Further study shows that, the precision of MSCKF method can be improved by adjusting window size.

Citation Download Citation

Xianglu Ma, Xiaoshan Yao, and Rensong Ding "Influence of IMU’s quality on VIO: based on MSCKF method", Proc. SPIE 11455, Sixth Symposium on Novel Optoelectronic Detection Technology and Applications, 114553X (17 April 2020); https://doi.org/10.1117/12.2564751

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