Robotics: Science and Systems XI

A Square Root Inverse Filter for Efficient Vision-aided Inertial Navigation on Mobile Devices

Kejian Wu, Ahmed Ahmed, Georgios Georgiou, Stergios Roumeliotis

Abstract:

In this paper, we present a square-root inverse sliding window filter (SR-ISWF) for vision-aided inertial navigation systems (VINS). While regular inverse filters suffer from numerical issues, employing their square-root equivalent enables the usage of single-precision number representations, thus achieving considerable speed ups as compared to double-precision alternatives on resource-constrained mobile platforms. Besides a detailed description of the SR-ISWF for VINS, which focuses on the numerical procedures that enable exploiting the problem's structure for gaining in efficiency, this paper presents a thorough validation of the algorithm's processing requirements and achieved accuracy. In particular, experiments are conducted using a commercial-grade cell phone, where the proposed algorithm is shown to achieve the same level of estimation accuracy, when compared to state-of-the-art VINS algorithms, with significantly higher speed.

Download:

Bibtex:

  
@INPROCEEDINGS{Wu-RSS-15, 
    AUTHOR    = {Kejian Wu AND Ahmed Ahmed AND Georgios Georgiou AND Stergios Roumeliotis}, 
    TITLE     = {A Square Root Inverse Filter for Efficient Vision-aided Inertial Navigation on Mobile Devices}, 
    BOOKTITLE = {Proceedings of Robotics: Science and Systems}, 
    YEAR      = {2015}, 
    ADDRESS   = {Rome, Italy}, 
    MONTH     = {July},
    DOI       = {10.15607/RSS.2015.XI.008} 
}