residualmvo
Residuals and residual covariance from monocular visual odometry measurements for
insfilterErrorState
Since R2020a
Syntax
Description
[
computes the residual information based on the monocular visual odometry measurements and
covariance.pResidual
,oResidual
,resCov
] = residualmvo(FUSE
,position
,positionCovariance
,ornt
,orntCovariance
)
Examples
Obtain Monocular Visual Odometry Residual from insfilterErrorState
Create
an insfilterErrorState
object and display its state.
filter = insfilterErrorState; disp(filter.State')
1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1
Define a MOV reading and its covariance.
position = [10 10 10]
position = 1×3
10 10 10
positionCovariance = eye(3); orientation = quaternion.ones; orientationCovariance = 0.1*[1 1 1];
Obtain the residual and residual covariance.
[pResidual,oResidual,resCovariance] = residualmvo(filter,position,positionCovariance, ...
orientation,orientationCovariance)
pResidual = 1×3
10 10 10
oResidual = 1×3
0 0 0
resCovariance = 6×6
2.0000 1.0000 1.0000 1.0000 1.0000 1.0000
1.0000 2.0000 1.0000 1.0000 1.0000 1.0000
1.0000 1.0000 2.0000 1.0000 1.0000 1.0000
1.0000 1.0000 1.0000 1.1000 1.0000 1.0000
1.0000 1.0000 1.0000 1.0000 1.1000 1.0000
1.0000 1.0000 1.0000 1.0000 1.0000 1.1000
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 meters.
oResidual
— Rotation vector residual
1-by-3 vector of real values
Rotation vector residual, returned 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 R2020a
See Also
Commande MATLAB
Vous avez cliqué sur un lien qui correspond à cette commande MATLAB :
Pour exécuter la commande, saisissez-la dans la fenêtre de commande de MATLAB. Les navigateurs web ne supportent pas les commandes MATLAB.
Select a Web Site
Choose a web site to get translated content where available and see local events and offers. Based on your location, we recommend that you select: .
You can also select a web site from the following list:
How to Get Best Site Performance
Select the China site (in Chinese or English) for best site performance. Other MathWorks country sites are not optimized for visits from your location.
Americas
- América Latina (Español)
- Canada (English)
- United States (English)
Europe
- Belgium (English)
- Denmark (English)
- Deutschland (Deutsch)
- España (Español)
- Finland (English)
- France (Français)
- Ireland (English)
- Italia (Italiano)
- Luxembourg (English)
- Netherlands (English)
- Norway (English)
- Österreich (Deutsch)
- Portugal (English)
- Sweden (English)
- Switzerland
- United Kingdom (English)