{"width":"100%","categories":[],"title":"A Multi-State Constraint Kalman Filter for Vision-aided Inertial Navigation \u306e\u7406\u89e3","blog_url":"https://salpik.hatenablog.com/","published":"2020-12-03 22:55:27","description":"\u5143\u8ad6\u6587 https://www-users.cs.umn.edu/~stergios/papers/ICRA07-MSCKF.pdf \u8981\u7d04 N\u500b\u306e\u30ab\u30e1\u30e9\u3068IMU\u304c\u3042\u308b\u904b\u52d5\u7269\u4f53\u306e\u4f4d\u7f6e\u3092\u63a8\u5b9a\u3059\u308b\u3002\u7279\u5fb4\u70b9\u306e\u5ea7\u6a19\u3084\u6614\u306e\u6e2c\u5b9a\u60c5\u5831\u306f\u30ab\u30eb\u30de\u30f3\u30d5\u30a3\u30eb\u30bf\u30fc\u306e\u72b6\u614b\u306b\u306f\u542b\u3081\u306a\u3044\u4e00\u65b9\u3067\u3001\u5404\u30ab\u30e1\u30e9\u306epose\u60c5\u5831\u306f\u72b6\u614b\u3068\u3057\u3066\u542b\u3081\u308b\u3002 \u30ab\u30eb\u30de\u30f3\u30d5\u30a3\u30eb\u30bf\u30fc\u306e\u72b6\u614b\u306e\u5b9a\u7fa9 \u307e\u305aIMU\u95a2\u4fc2\u306e\u72b6\u614b\u3092\u5b9a\u7fa9\u3059\u308b\u3002 \u3053\u3053\u3067\u7cfbG\u306fVIO\u306eodometry\u7cfb\u306e\u3053\u3068\u3067\u3042\u308a\u7cfbI\u306fIMU\u7cfb\u3067\u3042\u308b\u3002\u3068\u306f\u305d\u308c\u305e\u308c\u52a0\u901f\u5ea6\u3068\u89d2\u901f\u5ea6\u306b\u95a2\u3059\u308b\u30d0\u30a4\u30a2\u30b9\u9805\u3067\u3042\u308b\u3002 \u3053\u3053\u306bN\u3053\u306e\u30ab\u30e1\u30e9\u306e\u4f4d\u7f6e\u60c5\u5831\u3082\u52a0\u3048\u305f\u3082\u306e\u304c\u30ab\u30eb\u30de\u30f3\u30d5\u30a3\u30eb\u30bf\u30fc\u306e\u72b6\u614b\u3067\u3042\u308b\u3002 \u6e2c\u5b9a\u5024\u306e\u53d6\u308a\u6271\u3044 \u89d2\u901f\u5ea6\u2026","provider_name":"Hatena Blog","version":"1.0","image_url":null,"height":"190","author_url":"https://blog.hatena.ne.jp/salpik/","blog_title":"salpik\u306e\u30d6\u30ed\u30b0","type":"rich","url":"https://salpik.hatenablog.com/entry/2020/12/03/225527","html":"<iframe src=\"https://hatenablog-parts.com/embed?url=https%3A%2F%2Fsalpik.hatenablog.com%2Fentry%2F2020%2F12%2F03%2F225527\" title=\"A Multi-State Constraint Kalman Filter for Vision-aided Inertial Navigation \u306e\u7406\u89e3 - salpik\u306e\u30d6\u30ed\u30b0\" class=\"embed-card embed-blogcard\" scrolling=\"no\" frameborder=\"0\" style=\"display: block; width: 100%; height: 190px; max-width: 500px; margin: 10px 0px;\"></iframe>","provider_url":"https://hatena.blog","author_name":"salpik"}