Fusion of Monocular Visual-Inertial Measurements for Three Dimensional Pose Estimation

Accurate IMU Preintegration Using Switched Linear Systems For Autonomous Systems

“…Subsequently, the system in the equation (12) is a linear time invariant system in the interval. Using the linear control system theory [3], a discrete model can be derived from the equation (12) as [2,3]…”

“…Sensor fusion can be adopted to correct the drift whereby the estimated state obtained by the motion integration using the IMU data is used as a prediction state to * Joint first authors. 1 MGLSEET@ntu.edu.sg update or correct the estimated state using another onboard sensor [11], [12].…”

“…1 John Henawy is with the School of Mechanical and Aerospace Engineering, Nanyang Technological University, Singapore, 639798 and Institute for Infocomm Research, A-STAR, Singapore, 138632 and is a recipient of the A*STAR SINGA scholarship. johnfari001@e.ntu.edu.sg 2 Zhengguo Li , Wei Yun Yau and Kong Wah Wan are with the Institute for Infocomm Research, A-STAR, Singapore, 138632 {ezgli,wyyau,kongwah}@i2r.a-star.edu.sg 3 Gerald Seet is with the School of Mechanical and Aerospace Engineering, Nanyang Technological University, Singapore, 639798 MGLSEET@ntu.edu.sg update or correct the estimated state using another onboard sensor [11], [12].…”