Optimization-Based VINS: Consistency, Marginalization, and FEJ
Chuchu Chen,Patrick Geneva,Yuxiang Peng,Woosik Lee,Guoquan Huang,Chuchu Chen,Patrick Geneva,Yuxiang Peng,Woosik Lee,Guoquan Huang
In this work, we present a comprehensive analysis of the application of the First-estimates Jacobian (FEJ) design methodology in nonlinear optimization-based Visual-Inertial Navigation Systems (VINS). The FEJ approach fixes system linearization points to preserve proper observability properties of VINS and has been shown to significantly improve the estimation performance of state-of-the-art filte...
