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Mixed-Degree Cubature H Information Filter-Based Visual-Inertial Odometry

School of Astronautics, Harbin Institute of Technology, Harbin 150001, China
Author to whom correspondence should be addressed.
Appl. Sci. 2019, 9(1), 56;
Received: 3 December 2018 / Revised: 16 December 2018 / Accepted: 17 December 2018 / Published: 24 December 2018
(This article belongs to the Special Issue Mobile Robots Navigation)
PDF [7527 KB, uploaded 26 December 2018]


Visual–inertial odometry is an effective system for mobile robot navigation. This article presents an egomotion estimation method for a dual-sensor system consisting of a camera and an inertial measurement unit (IMU) based on the cubature information filter and H filter. The intensity of the image was used as the measurement directly. The measurements from the two sensors were fused with a hybrid information filter in a tightly coupled way. The hybrid filter used the third-degree spherical-radial cubature rule in the time-update phase and the fifth-degree spherical simplex-radial cubature rule in the measurement-update phase for numerical stability. The robust H filter was combined into the measurement-update phase of the cubature information filter framework for robustness toward non-Gaussian noises in the intensity measurements. The algorithm was evaluated on a common public dataset and compared to other visual navigation systems in terms of absolute and relative accuracy. View Full-Text
Keywords: visual-inertial odometry; cubature information filter; navigation; IMU; RGBD camera visual-inertial odometry; cubature information filter; navigation; IMU; RGBD camera

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Song, C.; Wang, X.; Cui, N. Mixed-Degree Cubature H Information Filter-Based Visual-Inertial Odometry. Appl. Sci. 2019, 9, 56.

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