SENSOR FUSION USING INERTIAL AND IMAGE SENSORS

摘要

Systems, methods, and devices are provided for controlling a movable object using multiple sensors. In one aspect, a method for estimating state information for a movable object is provided. The method can comprise: receiving previous state information for the movable object; receiving inertial data from at least one inertial sensor carried by the movable object; receiving image data from at least two image sensors carried by the movable object; and determining updated state information for the movable object based on the previous state information, the inertial data, and the image data using an iterative optimization algorithm during the operation of the movable object.