Implementation and observability analysis of visual-inertial-wheel odometry with robust initialization and online extrinsic calibration

Jinxu Liu, Wei Gao, Chuyun Xie, Zhanyi Hu

Abstract: Highlights•IMU-odometer pre-integration fusing IMU measurements and wheel encoder readings at pre-integration stage.•Robust initialization exploiting camera, IMU and wheel encoder data.•Robust and computationally efficient online extrinsic calibration that improves the resulting accuracy observably.•Observability analysis under more general assumptions revealing the benefit of utilizing wheel encoder readings.•Better performance than the state-of-the-art monocular and stereo visual-inertial odometry algorithms.

External IDs:doi:10.1016/j.robot.2024.104686