English (United Kingdom)

https://curated-unify.zendy.io/wp-json/zendy-region/v1/featured_content/oa?rat=en

https://curated-unify.zendy.io/wp-json/zendy-region/v1/highlighted_journal/

Global: Zendy Plus annual

Presents the access of premium content as premium feature

Premium Content

Presents the keyphrase highlighting as premium feature

Keyphrase Highlighting

Presents the summarisation as premium feature

Summarisation

Insights

Presents the pdf analysis as premium feature

PDF Analysis

Presents the zaia usage as premium feature

ZAIA

Global: Zendy Plus monthly

Global: Zendy Tools annual

Global: Zendy Tools monthly

Global: Zendy Free Plan

In this paper, we analyze the observability of the visual-inertial odometry(VIO) using stereo cameras with a velocity-control based kinematic motionmodel. Previous work shows that in general case the global position and yaw areunobservable in VIO system, additionally the roll and pitch become alsounobservable if there is no rotation. We prove that by integrating a planarmotion constraint roll and pitch become observable. We also show that theparameters of the motion model are observable.

Observability Analysis of Visual-Inertial Odometry with Online Calibration of Velocity-Control Based Kinematic Motion Models