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arXiv · 2404.01150

Visual-inertial state estimation based on Chebyshev polynomial optimization

Hongyu Zhang·Maoran Zhu·Qi Cai·Yuanxin Wu
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Abstract

This paper proposes an innovative state estimation method for visual-inertial fusion based on Chebyshev polynomial optimization. Specifically, the pose is modeled as a Chebyshev polynomial of a certain order, and its time derivatives are used to calculate linear acceleration and angular velocity, which, along with inertial measurements, constitute dynamic constraints. This is coupled with a visual measurement model to construct a visual-inertial bundle adjustment formulation. Simulation and public dataset experiments show that the proposed method has better accuracy than the discrete-form preintegration method.

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Hongyu Zhang, Maoran Zhu, Qi Cai, Yuanxin Wu. 2024-04-01. Visual-inertial state estimation based on Chebyshev polynomial optimization. https://arxiv.org/abs/2404.01150

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