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finish analytical docs, switch DeltaR_k and Jr_ktok1 to transposed di…
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…rection to match discrete docs
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goldbattle committed Jan 13, 2022
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2 changes: 1 addition & 1 deletion config/rpng_sim/estimator_config.yaml
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Original file line number Diff line number Diff line change
Expand Up @@ -3,7 +3,7 @@
verbosity: "INFO" # ALL, DEBUG, INFO, WARNING, ERROR, SILENT

use_fej: true # if we should use first-estimate Jacobians (enable for good consistency)
integration: "analytical" # discrete, rk4, analytical (if rk4 or analytical used then analytical covariance propagation is used)
integration: "rk4" # discrete, rk4, analytical (if rk4 or analytical used then analytical covariance propagation is used)
use_stereo: true # if we have more than 1 camera, if we should try to track stereo constraints
max_cameras: 2

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49 changes: 36 additions & 13 deletions docs/bib/extra.bib
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Expand Up @@ -6,15 +6,16 @@ @article{Patron2015IJCV
publisher = {Springer},
volume = 113,
number = 3,
pages = {208--219}
pages = {208--219},
url = {https://link.springer.com/article/10.1007/s11263-015-0811-3}
}
@article{Mueggler2018TRO,
title = {Continuous-Time Visual-Inertial Odometry for Event Cameras},
author = {E. Mueggler and G. Gallego and H. Rebecq and D. Scaramuzza},
year = 2018,
journal = {IEEE Transactions on Robotics},
pages = {1--16},
url = {http://rpg.ifi.uzh.ch/docs/TRO18_Mueggler.pdf}
url = {http://rpg.ifi.uzh.ch/docs/TRO18\%5FMueggler.pdf}
}
@article{Burri2016IJRR,
title = {The EuRoC micro aerial vehicle datasets},
Expand All @@ -24,7 +25,8 @@ @article{Burri2016IJRR
publisher = {SAGE Publications Sage UK: London, England},
volume = 35,
number = 10,
pages = {1157--1163}
pages = {1157--1163},
url = {https://journals.sagepub.com/doi/full/10.1177/0278364915620033}
}
@inproceedings{Schubert2018IROS,
title = {The TUM VI benchmark for evaluating visual-inertial odometry},
Expand All @@ -41,6 +43,7 @@ @inproceedings{Furgale2013IROS
year = 2013,
booktitle = {2013 IEEE/RSJ International Conference on Intelligent Robots and Systems},
pages = {1280--1286},
url = {https://ieeexplore.ieee.org/abstract/document/6696514},
organization = {IEEE}
}
@article{Trawny2005TR,
Expand All @@ -58,7 +61,7 @@ @book{Maybeck1982STOC
year = 1982,
publisher = {Academic press},
volume = 3,
url = {https://books.google.com/books?id=L_YVMUJKNQUC}
url = {https://books.google.com/books?id=L\%5FYVMUJKNQUC}
}
@article{Huang2010IJRR,
title = {Observability-based rules for designing consistent EKF SLAM estimators},
Expand All @@ -79,7 +82,8 @@ @article{Li2013IJRR
publisher = {SAGE Publications Sage UK: London, England},
volume = 32,
number = 6,
pages = {690--711}
pages = {690--711},
url = {https://journals.sagepub.com/doi/full/10.1177/0278364913481251}
}
@book{Kay1993,
title = {Fundamentals of statistical signal processing},
Expand Down Expand Up @@ -110,7 +114,7 @@ @inproceedings{Zhang2018IROS
year = 2018,
booktitle = {2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
pages = {7244--7251},
url = {http://rpg.ifi.uzh.ch/docs/IROS18_Zhang.pdf},
url = {http://rpg.ifi.uzh.ch/docs/IROS18\%5FZhang.pdf},
organization = {IEEE}
}
@inproceedings{Delmerico2018ICRA,
Expand All @@ -119,7 +123,7 @@ @inproceedings{Delmerico2018ICRA
year = 2018,
booktitle = {2018 IEEE International Conference on Robotics and Automation (ICRA)},
pages = {2502--2509},
url = {http://rpg.ifi.uzh.ch/docs/ICRA18_Delmerico.pdf},
url = {http://rpg.ifi.uzh.ch/docs/ICRA18\%5FDelmerico.pdf},
organization = {IEEE}
}
@inproceedings{Delmerico2019ICRA,
Expand All @@ -128,7 +132,7 @@ @inproceedings{Delmerico2019ICRA
year = 2019,
booktitle = {2019 International Conference on Robotics and Automation (ICRA)},
pages = {6713--6719},
url = {http://rpg.ifi.uzh.ch/docs/ICRA19_Delmerico.pdf},
url = {http://rpg.ifi.uzh.ch/docs/ICRA19\%5FDelmerico.pdf},
organization = {IEEE}
}
@article{Eckenhoff2019IJRR,
Expand Down Expand Up @@ -160,7 +164,8 @@ @article{Jeong2019IJRR
publisher = {SAGE Publications Sage UK: London, England},
volume = 38,
number = 6,
pages = {642--657}
pages = {642--657},
url = {https://journals.sagepub.com/doi/full/10.1177/0278364919843996}
}
@inproceedings{Wagstaff2017IPIN,
title = {Improving foot-mounted inertial navigation through real-time motion classification},
Expand All @@ -179,15 +184,16 @@ @article{Ramanandan2011TITS
publisher = {IEEE},
volume = 13,
number = 1,
pages = {235--248}
pages = {235--248},
url = {https://ieeexplore.ieee.org/abstract/document/6060912}
}
@inproceedings{Davidson2009ENC,
title = {Improved vehicle positioning in urban environment through integration of GPS and low-cost inertial sensors},
author = {Davidson, Pavel and Hautam{\"a}ki, Jani and Collin, Jussi and Takala, Jarmo},
year = 2009,
booktitle = {Proceedings of the European Navigation Conference (ENC), Naples, Italy},
pages = {3--6},
url = {http://www.tkt.cs.tut.fi/research/nappo_files/1_C2.pdf}
url = {http://www.tkt.cs.tut.fi/research/nappo\%5Ffiles/1\%5FC2.pdf}
}
@article{Jeon2021RAL,
title = {Run your visual-inertial odometry on NVIDIA Jetson: Benchmark tests on a micro aerial vehicle},
Expand All @@ -197,14 +203,16 @@ @article{Jeon2021RAL
publisher = {IEEE},
volume = 6,
number = 3,
pages = {5332--5339}
pages = {5332--5339},
url = {https://ieeexplore.ieee.org/abstract/document/9416140}
}
@inproceedings{Dong2012IROS,
title = {Estimator initialization in vision-aided inertial navigation with unknown camera-IMU calibration},
author = {Dong-Si, Tue-Cuong and Mourikis, Anastasios I},
year = 2012,
booktitle = {2012 IEEE/RSJ International Conference on Intelligent Robots and Systems},
pages = {1064--1071},
url = {https://intra.ece.ucr.edu/~mourikis/papers/DongSi2012IROS.pdf},
organization = {IEEE}
}
@inproceedings{Li2014ICRA,
Expand Down Expand Up @@ -238,7 +246,8 @@ @book{Barfoot2017
title = {State estimation for robotics},
author = {Barfoot, Timothy D},
year = 2017,
publisher = {Cambridge University Press}
publisher = {Cambridge University Press},
url = {http://asrl.utias.utoronto.ca/~tdb/bib/barfoot\%5Fser17.pdf}
}
@techreport{Eckenhoff2018TR,
title = {Continuous Preintegration Theory for Visual-Inertial Navigation},
Expand Down Expand Up @@ -289,3 +298,17 @@ @article{Rehder2017Sensors
number = 11,
pages = {3257--3268}
}
@techreport{Li2012TR,
title = {Consistency of EKF-Based Visual-Inertial Odometry},
author = {Mingyang Li and Anastasios I. Mourikis},
year = 2012,
note = {Available: \url{https://intra.ece.ucr.edu/~mourikis/tech_reports/VIO.pdf}},
institution = {Dept. of Electrical Engineering, University of California, Riverside}
}
@techreport{Hesch2012TR,
title = {Observability-constrained Vision-aided Inertial Navigation},
author = {Joel A. Hesch and Dimitrios G. Kottas and Sean L. Bowman and Stergios I. Roumeliotis},
year = 2012,
note = {Available: \url{https://citeseerx.ist.psu.edu/viewdoc/download?doi=10.1.1.721.6118&rep=rep1&type=pdf}},
institution = {Dept. of Computer Science \& Engineering, University of Minnesota}
}
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