A Loop Closure Hierarchy to Improve the Robustness of a Wearable Vision+inertial Navigation System
2018 IEEE Aerospace Conference（2018）
Key words
operational environments,robust state estimation algorithm,SAMWISE,loop-closure measurements,two-tier loop-closure hierarchy,short-duration movements,estimator drift,landmark database,long-duration drift,time-consuming survey,loop closure hierarchy,wearable vision+inertial navigation system,design,long-duration microgravity environment,International Space Station,architectural layout,3D space utilization,astronauts,ISS human-system operational environment,minimum net habitable volume,ISS mockup,Space Vehicle Mockup Facility,Johnson Space Center,Draper's Mischief algorithm,robust vision+inertial algorithm,online sensor-timing error estimation,parameter optimization,space exploration mission vehicles,representative tasking,ISS,NHV,SVMF,Smoothing And Mapping With Inertial State Estimation
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