An improved multi-state constraint Kalman filter for visual-inertial odometry

DOI10.1016/J.JFRANKLIN.2024.107130zbMATH Open1546.93707MaRDI QIDQ6611332

S. H. Pourtakdoust, M. R. Abdollahi, Hossein Nejat Pishkenari, Mohammad Hussein Yoosefian Nooshabadi

Publication date: 26 September 2024

Published in: Journal of the Franklin Institute (Search for Journal in Brave)

zbMATH Keywords

Kalman filteragile motionfast MSCKFMSCKFvisual-inertial odometry

Mathematics Subject Classification ID

Filtering in stochastic control theory (93E11) Informational aspects of data analysis and big data (94A16)

Cites Work

• Single landmark feedback-based time optimal navigation for a differential drive robot
• Autonomous dynamic docking of UAV based on UWB-vision in GPS-denied environment
• Temporal delay estimation of sparse direct visual inertial odometry for mobile robots

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