Abstract:Abstract-This paper investigates the problem of visual-inertial navigation. The proposed navigation system integrates inertial information from an inertial measurement unit (IMU) with visual data from a camera to provide relative pose estimation for a system which is navigating in an unknown structural environment. The main contribution of this paper is derivation of a novel measurement model based on inertial data and visual planar features. The proposed formulation is a solution to the 6-DoF motion estimatio… Show more
scite is a Brooklyn-based organization that helps researchers better discover and understand research articles through Smart Citations–citations that display the context of the citation and describe whether the article provides supporting or contrasting evidence. scite is used by students and researchers from around the world and is funded in part by the National Science Foundation and the National Institute on Drug Abuse of the National Institutes of Health.