Range-Visual-Inertial Odometry: Scale Observability Without Excitation

Author: Delaune

Year: 2021

Notes:

Develop a VIO based on EKF with inertial for prediction, visual MSCKF update and range update for scale observability
application on drone flying at constant velocity
range come from a 1D Laser Range Finder (LRF)
range update is computed with 3 SLAM features, computed with 2D delaunay triangulation, that are assumed to form a planar surface
perform observation analysis