fusemvo

Correct states using monocular visual odometry for insfilterErrorState

Since R2019a

Syntax

[pResidual,oResidual,resCov] = fusemvo(FUSE,position,positionCovariance,ornt,orntCovariance)

Description

[pResidual,oResidual,resCov] = fusemvo(FUSE,position,positionCovariance,ornt,orntCovariance) fuses position and orientation data from monocular visual odometry (MVO) measurements to correct the state and state estimation error covariance.

Input Arguments

FUSE — INS filter object

insfilterErrorState

insfilterErrorState, specified as an object.

position — Position of camera in local NED coordinate system (m)

3-element row vector

Position of camera in the local NED coordinate system in meters, specified as a real finite 3-element row vector.

Data Types: single | double

positionCovariance — Position measurement covariance of MVO (m²)

scalar | 3-element vector | 3-by-3 matrix

Position measurement covariance of MVO in m², specified as a scalar, 3-element vector, or 3-by-3 matrix.

Data Types: single | double

ornt — Orientation of camera with respect to local NED coordinate system

scalar quaternion | rotation matrix

Orientation of the camera with respect to the local NED coordinate system, specified as a scalar quaternion or 3-by-3 rotation matrix. The quaternion or rotation matrix is a frame rotation from the NED coordinate system to the current camera coordinate system.

Data Types: quaternion | single | double

orntCovariance — Orientation measurement covariance of monocular visual odometry (rad²)

scalar | 3-element vector | 3-by-3 matrix

Orientation measurement covariance of monocular visual odometry in rad², specified as a scalar, 3-element vector, or 3-by-3 matrix.

Data Types: single | double

Output Arguments

pResidual — Position residual

1-by-3 vector of real values

Position residual, returned as a 1-by-3 vector of real values in m.

oResidual — Rotation vector residual

1-by-3 vector of real values

Rotation vector residual, returned as a 1-by-3 vector of real values in radians.

resCov — Residual covariance

6-by-6 matrix of real values

Residual covariance, returned as a 6-by-6 matrix of real values.

Extended Capabilities

C/C++ Code Generation
Generate C and C++ code using MATLAB® Coder™.

Version History

Introduced in R2019a