Observability-constrained vision-aided inertial navigation

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United States of America Patent

PATENT NO 9243916
SERIAL NO

14186597

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This disclosure describes techniques for reducing or eliminating estimator inconsistency in vision-aided inertial navigation systems (VINS). For example, an observability-constrained VINS (OC-VINS) is described which enforce the unobservable directions of the system to prevent spurious information gain and reduce inconsistency.

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Patent Owner(s)

  • REGENTS OF THE UNIVERSITY OF MINNESOTA

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Inventor(s)

Inventor Name Address # of filed Patents Total Citations
Guo, Chao Minneapolis, US 54 253
Hesch, Joel Mountain View, US 26 393
Kottas, Dimitrios G Minneapolis, US 3 189
Roumeliotis, Stergios I Saint Paul, US 20 706

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