Visual-inertial state estimation based on Chebyshev polynomial optimization Article Swipe
Hongyu Zhang
,
Maoran Zhu
,
Qi Cai
,
Yuanxin Wu
·
YOU?
·
· 2024
· Open Access
·
· DOI: https://doi.org/10.48550/arxiv.2404.01150
YOU?
·
· 2024
· Open Access
·
· DOI: https://doi.org/10.48550/arxiv.2404.01150
This paper proposes an innovative state estimation method for visual-inertial fusion based on Chebyshev polynomial optimization. Specifically, the pose is modeled as a Chebyshev polynomial of a certain order, and its time derivatives are used to calculate linear acceleration and angular velocity, which, along with inertial measurements, constitute dynamic constraints. This is coupled with a visual measurement model to construct a visual-inertial bundle adjustment formulation. Simulation and public dataset experiments show that the proposed method has better accuracy than the discrete-form preintegration method.
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Metadata
- Type
- preprint
- Language
- en
- Landing Page
- http://arxiv.org/abs/2404.01150
- https://arxiv.org/pdf/2404.01150
- OA Status
- green
- Related Works
- 10
- OpenAlex ID
- https://openalex.org/W4393749478
All OpenAlex metadata
Raw OpenAlex JSON
- OpenAlex ID
-
https://openalex.org/W4393749478Canonical identifier for this work in OpenAlex
- DOI
-
https://doi.org/10.48550/arxiv.2404.01150Digital Object Identifier
- Title
-
Visual-inertial state estimation based on Chebyshev polynomial optimizationWork title
- Type
-
preprintOpenAlex work type
- Language
-
enPrimary language
- Publication year
-
2024Year of publication
- Publication date
-
2024-04-01Full publication date if available
- Authors
-
Hongyu Zhang, Maoran Zhu, Qi Cai, Yuanxin WuList of authors in order
- Landing page
-
https://arxiv.org/abs/2404.01150Publisher landing page
- PDF URL
-
https://arxiv.org/pdf/2404.01150Direct link to full text PDF
- Open access
-
YesWhether a free full text is available
- OA status
-
greenOpen access status per OpenAlex
- OA URL
-
https://arxiv.org/pdf/2404.01150Direct OA link when available
- Concepts
-
Chebyshev nodes, Chebyshev polynomials, Chebyshev filter, Inertial frame of reference, Estimation, State (computer science), Polynomial, Applied mathematics, Mathematics, Mathematical optimization, Computer science, Mathematical analysis, Algorithm, Economics, Physics, Classical mechanics, ManagementTop concepts (fields/topics) attached by OpenAlex
- Cited by
-
0Total citation count in OpenAlex
- Related works (count)
-
10Other works algorithmically related by OpenAlex
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