UVIO: An UWB-Aided Visual-Inertial Odometry Framework with Bias-Compensated Anchors Initialization

• DOI: 10.48550/arxiv.2308.00513
• Publication Date: 2023-01-01
• Authors: Giulio Delama; Farhad Shamsfakhr; Stephan Weiß; Daniele Fontanelli; Alessandro Fornasier
• Keywords: Initialization; Dilution of precision; Odometry; Position (finance); Visual Odometry

This paper introduces UVIO, a multi-sensor framework that leverages Ultra Wide Band (UWB) technology and Visual-Inertial Odometry (VIO) to provide robust low-drift localization. In order include range measurements in state estimation, the position of UWB anchors must be known. study proposes multi-step initialization procedure map multiple unknown by an Unmanned Aerial Vehicle (UAV), fully autonomous fashion. To address limitations initializing via random trajectory, this uses Geometric Dilution Precision (GDOP) as measure optimality anchor compute set optimal waypoints synthesize trajectory minimizes mapping uncertainty. After is complete, from anchors, including measurement biases, are tightly integrated into VIO system. While initialized drift heading eliminated. The effectiveness UVIO our has been validated through series simulations real-world experiments.