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arXiv · 2504.19318

Unscented Particle Filter for Visual-inertial Navigation using IMU and Landmark Measurements

Khashayar Ghanizadegan·Hashim A. Hashim
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Abstract

This paper introduces a geometric Quaternion-based Unscented Particle Filter for Visual-Inertial Navigation (QUPF-VIN) specifically designed for a vehicle operating with six degrees of freedom (6 DoF). The proposed QUPF-VIN technique is quaternion-based capturing the inherently nonlinear nature of true navigation kinematics. The filter fuses data from a low-cost inertial measurement unit (IMU) and landmark observations obtained via a vision sensor. The QUPF-VIN is implemented in discrete form to ensure seamless integration with onboard inertial sensing systems. Designed for robustness in GPS-denied environments, the proposed method has been validated through experiments with real-world dataset involving an unmanned aerial vehicle (UAV) equipped with a 6-axis IMU and a stereo camera, operating with 6 DoF. The numerical results demonstrate that the QUPF-VIN provides superior tracking accuracy compared to ground truth data. Additionally, a comparative analysis with a standard Kalman filter-based navigation technique further highlights the enhanced performance of the QUPF-VIN.

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Khashayar Ghanizadegan, Hashim A. Hashim. 2025-04-27. Unscented Particle Filter for Visual-inertial Navigation using IMU and Landmark Measurements. https://arxiv.org/abs/2504.19318

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