xVIO: A Range-Visual-Inertial Odometry Framework
Jet Propulsion Laboratory, California Institute of Technology（喷气推进实验室，加州理工学院）
英文摘要：
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.
机构、总结、中文摘要均由AI分析而来，可能存在错误，请以论文正文为准。
