dc.contributor.advisor | Brekke, Edmund Førland | |
dc.contributor.author | Legernæs, Eirik Worren | |
dc.date.accessioned | 2019-09-11T11:42:22Z | |
dc.date.created | 2017-06-05 | |
dc.date.issued | 2017 | |
dc.identifier | ntnudaim:16471 | |
dc.identifier.uri | http://hdl.handle.net/11250/2616096 | |
dc.description.abstract | The Multi-State Constraint Kalman Filter for visual-inertial odometry with online estimation of extrinsic and intrinsic camera parameters using the fisheye camera model is presented, and its performance in terms of accuracy and consistency is tested on synthetic and real world datasets The effect of some key parameters in the estimator is discussed and quantified with Monte Carlo simulations, and the sensitivity to initial conditions is investigated. A non-linear optimization based initialization procedure is proposed, and shown to outperform a linear closed-form method from the literature. | en |
dc.language | eng | |
dc.publisher | NTNU | |
dc.subject | Kybernetikk og robotikk, Navigasjon og fartøystyring | en |
dc.title | Fusion of Inertial Navigation and Visual Odometry by Multi-State Constraint Kalman Filter | en |
dc.type | Master thesis | en |
dc.source.pagenumber | 102 | |
dc.contributor.department | Norges teknisk-naturvitenskapelige universitet, Fakultet for informasjonsteknologi og elektroteknikk,Institutt for teknisk kybernetikk | nb_NO |
dc.date.embargoenddate | 10000-01-01 | |