单目视觉惯性里程计的低阶观测器

中文摘要 AI 辅助

本文开发了一种单目视觉惯性里程计（VIO）的低阶观测器框架。其关键思想在于将机体坐标系中的重力向量视为附加状态，并构造一个适当的输出，将单目轴承测量及其时间导数与机体坐标系速度相关联。这消除了对地标位置估计的需求，从而得到一个六维线性时变（LTV）观测器，用于估计机体坐标系速度和重力，并具有全局指数稳定性保证。这些估计随后被用于几乎全局地恢复姿态（直至一个未知的恒定偏航偏移）和位置（直至一个未知的恒定平移）。该混合轴承框架进一步扩展以考虑惯性测量单元（IMU）的偏差，产生一个具有局部指数稳定性保证的十二维LTV观测器。数值仿真验证了所提出观测器的有效性。

英文摘要

This work develops a reduced order observer framework of monocular visual-inertial odometry (VIO). The key idea consists in considering the gravity vector in the body-frame as an additional state and constructing an appropriate output that relates the monocular bearing measurements and their time derivatives to the body-frame velocity. This eliminates the need for the estimation of the landmark positions, leading to a six-dimensional linear time-varying (LTV) observer for the body-frame velocity and gravity, endowed with uniform global exponential stability guarantees. These estimates are subsequently used to recover the orientation almost globally, up to an unknown constant yaw offset, and the position up to an unknown constant translation. The mixed-bearing framework is further extended to account for the inertial measurement unit (IMU) biases, yielding a twelve-dimensional LTV observer endowed with local exponential stability guarantees. Numerical simulations are provided to illustrate the effectiveness of the proposed observers.

发表机构

• Lakehead University（湖首大学）
• Huazhong University of Science and Technology（华中科技大学）

机构由 AI 辅助整理，请以论文原文为准。