Publica
Hier finden Sie wissenschaftliche Publikationen aus den FraunhoferInstituten. Crosscoveriance estimation for EKFbased inertial aided monocular slam
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Volltext urn:nbn:de:0011n1927812 (231 KByte PDF) MD5 Fingerprint: f5030ea41ba59257b9da66cfa63d834a Erstellt am: 1.2.2012 
 Stilla, U. ; International Society for Photogrammetry and Remote Sensing ISPRS: PIA 2011, Photogrammetric Image Analysis. CDROM : Munich, Germany, October 5 7, 2011 Istanbul: ISPRS, 2011 (ISPRS Archives XXXVIII3/W22) 6 S. 
 Conference Photogrammetric Image Analysis (PIA) <2011, Munich> 

 Englisch 
 Konferenzbeitrag, Elektronische Publikation 
 Fraunhofer IOSB () 
 monocular SLAM; inertial measurement system; extended kalman filter; correlation; estimation 
Abstract
Repeated observation of several characteristically textured surface elements allows the reconstruction of the camera trajectory and a
sparse point cloud which is often referred to as "map". The extended Kalman filter (EKF) is a popular method to address this problem,
especially if realtime constraints have to be met. Inertial measurements as well as a parameterization of the state vector that conforms
better to the linearity assumptions made by the EKF may be employed to reduce the impact of linearization errors. Therefore, we adopt
an inertialaided monocular SLAM approach where landmarks are parameterized in inverse depth w.r.t. the coordinate system in which
they were observed for the first time. In this work we present a method to estimate the crosscovariances between landmarks which are
introduced in the EKF state vector for the first time and the old filter state that can be applied in the special case at hand where each
landmark is parameterized w.r.t. an individual coordinate system.