xVIO: A Range-Visual-Inertial Odometry Framework

Jeff Delaune; David S. Bayard; Roland Brockers

xVIO: A Range-Visual-Inertial Odometry Framework

Robotics 2020-10-15 v1

Authors: Jeff Delaune , David S. Bayard , Roland Brockers

Abstract

xVIO is a range-visual-inertial odometry algorithm implemented at JPL. It has been demonstrated with closed-loop controls on-board unmanned rotorcraft equipped with off-the-shelf embedded computers and sensors. It can operate at daytime with visible-spectrum cameras, or at night time using thermal infrared cameras. This report is a complete technical description of xVIO. It includes an overview of the system architecture, the implementation of the navigation filter, along with the derivations of the Jacobian matrices which are not already published in the literature.

Keywords

visual-inertial odometry

Cite

@article{arxiv.2010.06677,
  title  = {xVIO: A Range-Visual-Inertial Odometry Framework},
  author = {Jeff Delaune and David S. Bayard and Roland Brockers},
  journal= {arXiv preprint arXiv:2010.06677},
  year   = {2020}
}

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