Visual-inertial odometry with depth sensing using a multi-state constraint Kalman filter
Name
910634231-MIT.pdf
Description
Full printable version
Size
9.99 MB
Format
Adobe PDF
Checksum (MD5)
53c55a58fff2de5fb22bc7e8e309171e
Author(s)
Galfond, Marissa N. (Marissa Nicole)
Advisor(s)
Paul A. DeBitetto and Paulo C. Lozano.
Date Issued
2014
Publisher
Massachusetts Institute of Technology
Abstract
The goal of visual inertial odometry (VIO) is to estimate a moving vehicle's trajectory using inertial measurements and observations, obtained by a camera, of naturally occurring point features. One existing VIO estimation algorithm for use with a monocular system, is the multi-state constraint Kalman filter (MSCKF), proposed by Mourikis and Li [34, 29]. The way the MSCKF uses feature measurements drastically improves its performance, in terms of consistency, observability, computational complexity and accuracy, compared to other VIO algorithms [29]. For this reason, the MSCKF is chosen as the basis for the estimation algorithm presented in this thesis. A VIO estimation algorithm for a system consisting of an IMU, a monocular camera and a depth sensor is presented in this thesis. The addition of the depth sensor to the monocular camera system produces three-dimensional feature locations rather than two-dimensional locations. Therefore, the MSCKF algorithm is extended to use the extra information. This is accomplished using a model proposed by Dryanovski et al. that estimates the 3D location and uncertainty of each feature observation by approximating it as a multivariate Gaussian distribution [11]. The extended MSCKF algorithm is presented and its performance is compared to the original MSCKF algorithm using real-world data obtained by flying a custom-built quadrotor in an indoor office environment.
Description
Thesis: S.M., Massachusetts Institute of Technology, Department of Aeronautics and Astronautics, 2014.
Cataloged from PDF version of thesis.
Includes bibliographical references (pages 93-97).
Subjects
Aeronautics and Astronautics.
MIT Department
Massachusetts Institute of Technology. Department of Aeronautics and Astronautics
Terms of Use
M.I.T. theses are protected by copyright. They may be viewed from this source for any purpose, but reproduction or distribution in any format is prohibited without written permission. See provided URL for inquiries about permission.
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