Abstract:In recent years, Visual-Inertial Odometry (VIO) has achieved many significant progresses. However, VIO methods suffer from localization drift over long trajectories. In this paper, we propose a First-Estimates Jacobian Visual-Inertial-Ranging Odometry (FEJ-VIRO) to reduce the localization drifts of VIO by incorporating ultra-wideband (UWB) ranging measurements into the VIO framework consistently. Considering that the initial positions of UWB anchors are usually unavailable, we propose a long-short window struc… Show more
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