Reactive Visual Odometry Scheduling Based on Noise Analysis using an Adaptive Extended Kalman Filter
Mateusz Tomasz Malinowski,Arthur Richards,Mark Woods,Mateusz Tomasz Malinowski,Arthur Richards,Mark Woods
A new strategy is proposed for scheduling Visual Odometry (VO) measurements for wheeled ground vehicles. Rather than having a fixed interval or distance between image acquisitions, we propose to trigger VO based on covariances from an Adaptive Extended Kalman Filter. The adopted model uses process noise to drive wheel slip estimation, which, when correctly identified, can be used with Wheel Odomet...
