A multiplicative multi-state constraint Kalman filter

dc.contributor.advisorZanetti, Renato, 1978-
dc.creatorMichaelson, Kristen Alyssa
dc.creator.orcid0000-0002-0567-5053
dc.date.accessioned2021-01-26T20:01:32Z
dc.date.available2021-01-26T20:01:32Z
dc.date.created2020-12
dc.date.issued2021-01-26
dc.date.submittedDecember 2020
dc.date.updated2021-01-26T20:01:34Z
dc.description.abstractA multi-state constraint Kalman filter (MSCKF) is implemented with a multiplicative quaternion update. The filter is tested on data from simulated inertial measurement unit (IMU) and camera measurements. In the simulation, a vehicle views feature points in the environment as it travels along a circular path. The MSCKF is demonstrated to be consistent using Monte Carlo analysis
dc.description.departmentAerospace Engineering
dc.format.mimetypeapplication/pdf
dc.identifier.urihttps://hdl.handle.net/2152/84460
dc.identifier.urihttp://dx.doi.org/10.26153/tsw/11439
dc.language.isoen
dc.subjectKalman filter
dc.subjectMSCKF
dc.subjectVisual inertial odometry
dc.titleA multiplicative multi-state constraint Kalman filter
dc.typeThesis
dc.type.materialtext
thesis.degree.departmentAerospace Engineering
thesis.degree.disciplineAerospace Engineering
thesis.degree.grantorThe University of Texas at Austin
thesis.degree.levelMasters
thesis.degree.nameMaster of Science in Engineering

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