De-Fu Lin

LBDU-VIO: Learned Bias Dynamics and Uncertainty for Visual-Inertial Odometry with Unreliable Vision

Visual-inertial odometry (VIO) for aerial robots relies on high rate inertial measurement unit (IMU) propagation between visual updates. However, conventional multi state constraint Kalman filters (MSCKFs) use random walk bias assumptions and fixed noise parameters, which can limit robustness when visual information is...