Visual-based inertial navigation

摘要

A method includes: receiving sensor measurements from a pre-processing module, in which the sensor measurements include image data and inertial data for a device; transferring, using a processor, information derived from the sensor measurements, from a first set of variables associated with a first window of time to a second set of variables associated with a second window of time, in which the first and second windows consecutively overlap in time; and outputting, to a post-processing module, a state of the device based on the transferred information.

主权项

1. An electronic computing system for performing navigation, the electronic computing system comprising an electronic processor and memory operable to implement a sliding-window inverse filter module, wherein the sliding-window inverse filter module is configured to:
receive sensor measurements from a pre-processing module, wherein the sensor measurements comprise image data and inertial data for a device; transfer information, derived from the sensor measurements, from a first set of variables associated with a first window of time to a second set of variables associated with a second window of time, wherein the first and second windows consecutively overlap in time; and output, to a post-processing module, a state of the device based on the transferred information, wherein each window in the pair is associated with a corresponding first information matrix, and each first information matrix is for a plurality of first variables representing a position and/or orientation of at least one object proximate to the device and a plurality of second variables representing a state of the device at two or more points in time, and wherein transferring the information comprises: marginalizing at least a subset of the first variables associated with the first information matrix of the first window to obtain a second information matrix, which still maintains the association with the plurality of second variables; marginalizing a subset of the second variables associated with the second information matrix to obtain a third information matrix; and scaling the third information matrix to obtain a fourth information matrix, wherein the fourth information matrix is a summarized representation of the information about the state of the device and of the position and/or orientation of the objects proximate to the device at points in time when the first window and the second window in the pair overlap.