Distributed Initialization for Visual-Inertial-Ranging Odometry with Position-Unknown UWB Network
Shenhan Jia,Rong Xiong,Yue Wang,Shenhan Jia,Rong Xiong,Yue Wang
In recent years, the visual-inertial-ranging (VIR) state estimator with a position-unknown UWB network has become popular. However, most existing VIR methods leverage centralized algorithms to initialize the UWB anchors, which are challenging to be applied to massive UWB networks. In this paper, we propose a distributed initialization method for consistent visual-inertial-ranging odometry with a p...
