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eess.SY2022★ 1 cited
NOCT: Nonlinear Observability with Constraints and Time Offset
Jianzhu Huai, Yukai Lin, Yujia Zhang
Nonlinear systems of affine control inputs overarch many sensor fusion instances. Analyzing whether a state variable in such a nonlinear system can be estimated (i.e., observabilit…
cs.RO2022
Observability Analysis and Keyframe-Based Filtering for Visual Inertial Odometry with Full Self-Calibration
Jianzhu Huai, Yukai Lin, Yuan Zhuang +2
Camera-IMU (Inertial Measurement Unit) sensor fusion has been extensively studied in recent decades. Numerous observability analysis and fusion schemes for motion estimation with s…