Handling Delayed Fusion in Vision-Augmented Inertial Navigation

Ehsan Asadi, Carlo L. Bottasso

2012

Abstract

In this paper we consider the effects of delay caused by real-time image acquisition and feature tracking in a previously documented Vision-Augmented Inertial Navigation System. At first, the paper illustrates how delay caused by image processing, if not explicitly taken into account, can lead to appreciable performance degradation of the estimator. Next, three different existing methods of delayed fusion are considered and compared. Simulations and Monte Carlo analyses are used to assess the estimation error and computational effort of the various methods. Finally, a best performing formulation is identified, that properly handles the fusion of delayed measurements in the estimator without increasing the time burden of the filter.

Paper Citation

in Harvard Style

Asadi E. and L. Bottasso C. (2012). Handling Delayed Fusion in Vision-Augmented Inertial Navigation . In Proceedings of the 9th International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO, ISBN 978-989-8565-21-1, pages 394-401. DOI: 10.5220/0004041403940401

in Bibtex Style

@conference{icinco12,
author={Ehsan Asadi and Carlo L. Bottasso},
title={Handling Delayed Fusion in Vision-Augmented Inertial Navigation},
booktitle={Proceedings of the 9th International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO,},
year={2012},
pages={394-401},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0004041403940401},
isbn={978-989-8565-21-1},
}

in EndNote Style

TY - CONF
JO - Proceedings of the 9th International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO,
TI - Handling Delayed Fusion in Vision-Augmented Inertial Navigation
SN - 978-989-8565-21-1
AU - Asadi E.
AU - L. Bottasso C.
PY - 2012
SP - 394
EP - 401
DO - 10.5220/0004041403940401