A novel initialization method for monocular visual inertial navigation
Abstract
In joint operation, unmanned systems greatly promote the generation of new combat capabilities. The autonomous navigation is a key technology for achieving a new paradigm of warfare. To solve the problem of unmanned systems’ real-time precise localization in GNSS-denied environments, an initialization algorithm for monocular visual inertial navigation is proposed. To handle multi-rate measurements in visual inertial navigation system, the IMU pre-integration technique is utilized to process inertial measurements. And then the visual structure from motion is performed. Finally, the visual inertial loosely coupled method is employed to estimate the initial scale, gravity direction, velocity and gyroscope and acceleration biases, and the mathematical model is addressed in detail. Experimental results indicate that the initialization method can obtain accurate initial states in 15 seconds, which can meet the needs of unmanned systems’ cooperative application in joint operation.
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Index Terms
- A novel initialization method for monocular visual inertial navigation
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Published In
November 2023
237 pages
ISBN:9798400709272
DOI:10.1145/3638682
Copyright © 2023 ACM.
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Association for Computing Machinery
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Publication History
Published: 22 May 2024
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VSIP 2023
VSIP 2023: 2023 the 5th International Conference on Video, Signal and Image Processing
November 24 - 26, 2023
Harbin, China
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