Visual-inertial state estimation based on Chebyshev polynomial optimization
Robotics
2024-04-02 v1
Abstract
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.
Keywords
Cite
@article{arxiv.2404.01150,
title = {Visual-inertial state estimation based on Chebyshev polynomial optimization},
author = {Hongyu Zhang and Maoran Zhu and Qi Cai and Yuanxin Wu},
journal= {arXiv preprint arXiv:2404.01150},
year = {2024}
}