fusemvo

Correct states using monocular visual odometry

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

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insfilterErrorState, specified as an object.

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

Data Types: single | double

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

Data Types: single | double

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

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

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

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

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™.

Introduced in R2019a