Hanxuan Zhang

CAMSCKF: A Multi-State Constraint Kalman Filter with Adaptive Multivariate Noise Parameters Clustering and Estimation for Visual-Inertial Odometry

The Visual-Inertial Odometry has been widely deployed on autonomous robots traveling in open outdoor scenarios. However, the visual measurements will be influenced heavily by the observation distances, perspectives, lighting and texture conditions, with distinct and time-varying noise distributions