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An extended stochastic cloning method for fusing multi-relative measurements

Zhang, Hongmou and Baumbach, Dirk and Grießbach, Denis and Börner, Anko (2019) An extended stochastic cloning method for fusing multi-relative measurements. Asian Conference on Pattern Recognition 2019, 26-29 Nov 2019, Auckland, New Zealand. (In Press)

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One of the most important tasks for visual inertial odometry systems is pose estimation. By integrating system poses, motion trajectory of the system can be obtained. Due to errors existing in calculations, the accumulated errors grow unbounded. To decrease the drift, keyframes and loop-closure information can be used as additional references for the system. To use this information, the system should able to handle multi-relative measurements which cross many periods of filter cycles. In Kalman filter based system the fusion of such information is one of the toughest problems. In this paper, we propose an extended stochastic cloning method to overcome this problem. The proposed method is based on the error state Kalman filter. It also can be used in other Kalman filters. The experimental results show that based on the proposed method trajectory errors and uncertainties of filtered results are decreased significantly. At the same time, the IMUs biases are modeled as a random-walk noise and be updated as well. This way, by using keyframes and loop-closure information, the proposed method is able to improve the accuracy of the sensor models.

Item URL in elib:https://elib.dlr.de/132595/
Document Type:Conference or Workshop Item (Speech)
Title:An extended stochastic cloning method for fusing multi-relative measurements
AuthorsInstitution or Email of AuthorsAuthors ORCID iD
Zhang, HongmouHongmou.Zhang (at) dlr.deUNSPECIFIED
Baumbach, DirkDirk.Baumbach (at) dlr.deUNSPECIFIED
Grießbach, Denisdenis.griessbach (at) dlr.deUNSPECIFIED
Börner, AnkoAnko.Boerner (at) dlr.deUNSPECIFIED
Date:November 2019
Refereed publication:Yes
Open Access:No
Gold Open Access:No
In ISI Web of Science:No
Status:In Press
Keywords:Kalman filter, stochastic cloning, visual odometry, measurement fusion
Event Title:Asian Conference on Pattern Recognition 2019
Event Location:Auckland, New Zealand
Event Type:international Conference
Event Dates:26-29 Nov 2019
HGF - Research field:Aeronautics, Space and Transport
HGF - Program:Transport
HGF - Program Themes:Road Transport
DLR - Research area:Transport
DLR - Program:V ST Straßenverkehr
DLR - Research theme (Project):V - D.MoVe
Location: Berlin-Adlershof
Institutes and Institutions:Institute of Optical Sensor Systems > Real-Time Data Processing
Deposited By: Zhang, Hongmou
Deposited On:11 Dec 2019 08:46
Last Modified:11 Dec 2019 08:46

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