FEJ-VIRO: A Consistent First-Estimate Jacobian Visual-Inertial-Ranging Odometry
Shenhan Jia,Yanmei Jiao,Zhuqing Zhang,Rong Xiong,Yue Wang,Shenhan Jia,Yanmei Jiao,Zhuqing Zhang,Rong Xiong,Yue Wang
In recent years, Visual-Inertial Odometry (VIO) has achieved many significant progresses. However, VIO meth-ods suffer from localization drift over long trajectories. In this paper, we propose a First-Estimates Jacobian Visual-Inertial-Ranging Odometry (FEJ-VIRO) to reduce the localization drifts of VIO by incorporating ultra-wideband (UWB) ranging measurements into the VIO framework consistently....