VISION-AIDED INERTIAL NAVIGATION

Abstract: localization and navigation systems and techniques are described. an electronic device comprises a processor configured to maintain a state vector storing estimates for a position of the electronic device at poses along a trajectory within an environment along with estimates for positions for one or more features within the environment. the processor computes, from the image data, one or more constraints based on features observed from multiple poses of the electronic device along the trajectory, and computes updated state estimates for the position of the electronic device in accordance with the motion data and the one or more computed constraints without computing updated state estimates for the features for which the one or more constraints were computed.

Inventor(s): Stergios I. Roumeliotis, Anastasios I. Mourikis

CPC Classification: G01C21/1656 ({combined with non-inertial navigation instruments})

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