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Closed-form solution for absolute scale velocity estimation using visual and inertial data with a sliding least-squares estimation
2013
21st Mediterranean Conference on Control and Automation
In this paper a method for the on-line absolutescale velocity estimation of a system composed of a single camera and of an inertial measurement unit is presented. The proposed formulation makes use of spherical image measurements acquired from at least three camera positions and inertial measurements to estimate the system velocity by solving also the absolute scale problem. A new multi-rate formulation based on a sliding least-squares estimation formulation is proposed, which is capable of
doi:10.1109/med.2013.6608881
dblp:conf/med/LippielloM13
fatcat:qr6vta4n4jgyblbbazpjuoxco4