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Embodied Vision Technical Report 2022

Observability Analysis of Visual-Inertial Odometry with Online Calibration of Velocity-Control Based Kinematic Motion Models

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Embodied Vision
Haolong Li
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Embodied Vision
Jörg Stückler
Max Planck Research Group Leader

In this paper, we analyze the observability of the visual-inertial odometry (VIO) using stereo cameras with a velocity-control based kinematic motion model. Previous work shows that in general case the global position and yaw are unobservable in VIO system, additionally the roll and pitch become also unobservable if there is no rotation. We prove that by integrating a planar motion constraint roll and pitch become observable. We also show that the parameters of the motion model are observable.

Author(s): Li, Haolong and Stueckler, Joerg
Volume: abs/2204.06651
Year: 2022
Bibtex Type: Technical Report (techreport)
Electronic Archiving: grant_archive
Eprint: arxiv:2204.06651
Institution: CoRR/arxiv
State: Published
URL: https://arxiv.org/abs/2204.06651

BibTex 

@techreport{li2022obsanalysiskinvio,
  title = {Observability Analysis of Visual-Inertial Odometry with Online Calibration of Velocity-Control Based Kinematic Motion Models},
  abstract = {In this paper, we analyze the observability of the visual-inertial odometry (VIO) using stereo cameras with a velocity-control based kinematic motion model. Previous work shows that in general case the global position and yaw are unobservable in VIO system, additionally the roll and pitch become also unobservable if there is no rotation. We prove that by integrating a planar motion constraint roll and pitch become observable. We also show that the parameters of the motion model are observable. },
  volume = {abs/2204.06651},
  institution = {CoRR/arxiv},
  year = {2022},
  slug = {li2022obsanalysiskinvio},
  author = {Li, Haolong and Stueckler, Joerg},
  eprint = {arxiv:2204.06651},
  url = {https://arxiv.org/abs/2204.06651}
}