5 accepted papers
This letter provides an exhaustive analysis of all the singularities and minimal cases in cooperative visual-inertial odometry. Specifically, the case of two agents is analysed. As in the case of a single agent and in the case of other computer vision problems, the key of the analysis is the establi
This letter analyzes the visual-inertial sensor fusion problem in the cooperative case of two agents, and proves that this sensor fusion problem is equivalent to a simple polynomial equations system that consists of several linear equations and three polynomial equations of second degree. The analyt
State of the art approaches for visual-inertial sensor fusion use filter-based or optimization-based algorithms. Due to the nonlinearity of the system, a poor initialization can have a dramatic impact on the performance of these estimation methods. Recently, a closed-form solution providing such an
This paper presents the analytic solution of a fundamental open problem in the framework of state estimation/nonlinear observability, which is the Unknown Input Observability problem (UIO problem). The problem consists in deriving the analytic criterion that allows us to automatically obtain the sta…
This paper presents a theoretical investigation in the framework of visual-inertial sensor fusion and the results here provided are the extension of our previous contribution in [10], [11]. The general goal of this research is to establish minimalistic visual-inertial sensors settings, which still p…