Schmidt-EKF-based Visual-Inertial Moving Object Tracking
Kevin Eckenhoff,Patrick Geneva,Nathaniel Merrill,Guoquan Huang,Kevin Eckenhoff,Patrick Geneva,Nathaniel Merrill,Guoquan Huang
In this paper we investigate the effect of tightly-coupled estimation on the performance of visual-inertial localization and dynamic object pose tracking. In particular, we show that while a joint estimation system outperforms its decoupled counterpart when given a "proper" model for the target's motion, inconsistent modeling, such as choosing improper levels for the target's propagation noises, c...
