UVIO: An UWB-Aided Visual-Inertial Odometry Framework with Bias-Compensated Anchors Initialization
Giulio Delama,Farhad Shamsfakhr,Stephan Weiss,Daniele Fontanelli,Alessandro Fomasier,Giulio Delama,Farhad Shamsfakhr,Stephan Weiss,Daniele Fontanelli,Alessandro Fomasier
This paper introduces UVIO, a multi-sensor framework that leverages Ultra Wide Band (UWB) technology and Visual-Inertial Odometry (VIO) to provide robust and low-drift localization. In order to include range measurements in state estimation, the position of the UWB anchors must be known. This study proposes a multi-step initialization procedure to map multiple unknown anchors by an Unmanned Aerial...
