Invariant Kalman Filtering for Visual Inertial SLAM

Abstract : Combining visual information with inertial measure- ments is a popular approach to achieve robust and autonomous navigation in robotics, specifically in GPS-denied environments. In this paper, building upon both the recent theory of Unscented Kalman Filtering on Lie Groups (UKF-LG) and more generally the theory of invariant Kalman filtering (IEKF), an innovative UKF is derived for the monocular visual simultaneous localiza- tion and mapping (SLAM) problem. The body pose, velocity, and the 3D landmarks’ positions are viewed as a single element of a (high dimensional) Lie group SE 2+p (3), which constitutes the state, and where the accelerometers’ and gyrometers’ biases are appended to the state and estimated as well. The efficiency of the approach is validated both on simulations and on five real datasets.
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Martin Brossard, Silvère Bonnabel, Axel Barrau. Invariant Kalman Filtering for Visual Inertial SLAM. 21st International Conference on Information Fusion, University of Cambridge, Jul 2018, Cambrige, United Kingdom. ⟨hal-01588669v2⟩

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