FEJ2: A Consistent Visual-Inertial State Estimator Design
Chuchu Chen,Yulin Yang,Patrick Geneva,Guoquan Huang,Chuchu Chen,Yulin Yang,Patrick Geneva,Guoquan Huang
In this paper, we propose a novel consistent state estimator design for visual-inertial systems. Motivated by first-estimates Jacobian (FEJ) based estimators - which uses the first-ever estimates as linearization points to preserve proper observability properties of the linearized estimator thereby improving the consistency - we carefully model measurement linearization errors due to its Jacobian ...
