[{"data":1,"prerenderedAt":338},["ShallowReactive",2],{"method-lupton2012preint":3},{"method":4,"reference":53,"equipment":72,"figures":89,"results":90},{"id":5,"label":6,"shortName":7,"title":8,"year":9,"era":10,"cluster":11,"scope":12,"keyIdeaZh":13,"keyIdeaEn":14,"fulltextStatus":15,"publicationStatus":16,"recommendation":17,"constructionRelevance":18,"validationEnvironment":19,"strengths":22,"limitations":28,"sensors":35,"platform":39,"estimator":41,"association":42,"timeModel":43,"deskew":44,"loopClosure":45,"globalOptimization":46,"mapRepresentation":47,"prior":48,"outputGeometry":49,"compute":50,"codeUrl":51,"codeLicense":44,"relatedVersions":52},"lupton2012preint","Lupton & Sukkarieh, 2012","Lupton-Sukkarieh preintegration","Visual-Inertial-Aided Navigation for High-Dynamic Motion in Built Environments Without Initial Conditions",2012,"classic","C03","odometry_with_local_mapping","本文為消防等第一應變人員的人員攜帶定位需求，提出在上一個位姿的機體座標系中積分 IMU 量測，形成不需初始條件的「預積分慣性增量觀測」（位置修正項 Δp+、速度增量與姿態增量，姿態以 Euler 角表示），並以 Jacobian 在積分後修正 IMU 偏差。導航座標系改固定於第一個位姿的機體座標，使初始姿態已知，改以線性方式估計重力向量與初始速度；理論上三個位姿的相對位置即可線性恢復初始條件，不需特殊初始化。系統以資訊空間的圖式 SLAM 實作，並以「滑動視窗強制獨立」（SWFI，30 個影像位姿）移除舊位姿與其觀測以維持固定計算時間；視覺前端為 Harris 角點、金字塔 LK 光流與 RANSAC 基本矩陣剔除。作者以手持 Honeywell HG1900 IMU 與 Bumblebee2 立體相機在雪梨大學辦公建物中驗證。Forster 等人與 GTSAM 文件把 IMU 預積分概念歸於此工作。","Preintegrates IMU measurements in the body frame of the previous pose into delta observations (Delta p+, Delta v, Delta phi in Euler angles) with post-integration bias Jacobians, and fixes the navigation frame to the first body pose so that gravity and initial velocity become linearly observable after three poses; implemented as information-form graphical SLAM with sliding window forced independence (30 poses) and validated with a hand-held HG1900 IMU and Bumblebee2 stereo camera in office buildings; later cited as the origin of IMU preintegration.","full_text_reviewed","peer_reviewed_published","background","未在營建工地驗證。資料為手持感測器在雪梨大學 Rose St. 建物（辦公建物，兩個樓層）與相鄰的 Link 建物之間步行取得，路線含樓梯間、天橋與戶外（圖 12 另標示停車場），另有一般辦公室內兩個相距 9 m 地面標記的驗證（Sec. VIII-C、VIII-F）。樓梯間等特徵稀少時段造成較大漂移（第二組資料終點誤差 1.39%），這類情況與施工中室內環境相似，但此關聯屬於推論。",[20,21],"controlled_experiment","completed_building",[23,24,25,26,27],"Initial velocity and gravity recovered linearly after three poses; no special initialization, estimation started while moving (Sec. VI; Sec. VIII-F)","Validation: the 9 m marks estimated within a few centimetres, final pose 16 cm from the start, velocities within 1 cm\u002Fs and attitude within 1 deg at the stationary points (Sec. VIII-C, Table IV)","Gravity magnitude estimated as 9.796 m\u002Fs2 vs 9.797 m\u002Fs2 for Sydney, estimates within 0.06% and 0.12 deg of each other (Sec. VIII-C)","Final position error 0.82 m (0.68%) and 2.5 m (1.39%) on walking datasets of about 120 m and 180 m (Sec. VIII-F)","Inertial data bridged a rotation of about 90 deg\u002Fs where stereo-only tracking was lost and fixed scale where stereo-only estimated the 9 m mark at 10.4 to 10.8 m (Sec. VIII-E)",[29,30,31,32,33,34],"Delta attitude is converted back to Euler angles (Sec. III, eq. 12); Forster et al. later note singularities of this representation (forster2017preint, Sec. I)","SWFI gives a slightly sub-optimal solution (Sec. IX-A)","No loop closure; drift grows in periods with few visual features such as stair cases (Sec. VIII-F, Fig. 17; Sec. IX-B)","Early gravity estimates after three images are inaccurate, so linearization problems remain until convergence (Sec. VI-C)","Monocular-inertial final error 2.9 m versus 0.82 m for stereo-inertial on dataset 1 (Sec. VIII-G)","Failure modes not yet studied systematically (Sec. IX-B)",[36,37,38],"IMU (Honeywell HG1900, 600 Hz)","stereo camera (Point Grey Research Bumblebee2 with 2.1 mm wide-angle lenses, 6.25 Hz, 12 cm baseline)","monocular camera (left camera of the stereo pair only, Sec. VIII-G)",[40],"handheld (human-carried sensor suite)","information-space graphical SLAM (delayed-state filter that can relinearize past observations and re-assess data association) with preintegrated inertial delta observations; sliding window forced independence removes poses older than the 30-image window together with all their observations; state: positions, velocities and Euler attitudes of window poses, gravity vector, IMU-to-camera rotation and offset, IMU biases and tracked landmarks","Harris corners (20 to 50 per image) tracked with pyramidal Lucas-Kanade optical flow; RANSAC fundamental-matrix test between consecutive images; graph edge-energy test (above 2 sigma) to re-assess data association after insertion; no descriptor-based re-acquisition","discrete poses at the camera rate (6.25 Hz stereo); 600 Hz IMU samples integrated between poses in the body frame of the previous pose","not_applicable","none; loop closure detection is listed as future work","none; windowed graphical SLAM with sliding window forced independence; a common frame for the whole trajectory is kept only by re-anchoring the oldest window pose","sparse 3D point landmarks for features currently tracked within the window; removed when no longer observed","none for initial conditions; in the monocular-inertial run a weak range prior between the first two poses is applied until ten image pairs are observed","platform position, velocity and attitude plus gravity vector, IMU-camera alignment and IMU biases; no dense map","constant-time processing bounded by the sliding window (abstract; Sec. VII-B; Sec. IX-A); computing hardware not reported",null,[],{"id":5,"kind":54,"shortName":7,"title":8,"authors":55,"year":9,"venue":58,"venueType":59,"publisher":60,"volumeIssuePages":61,"doi":62,"arxivId":51,"url":63,"firstPublicDate":64,"publicationStatus":16,"metadataStatus":65,"fulltextStatus":15,"era":10,"classicReason":66,"codeUrl":51,"cluster":11,"topics":67,"mdpi":68,"verification":69,"label":6,"fulltextRoute":70,"versionRead":71,"addedByCensus":68},"method",[56,57],"Todd Lupton","Salah Sukkarieh","IEEE Transactions on Robotics","journal","IEEE","28(1):61-76","10.1109\u002Ftro.2011.2170332","https:\u002F\u002Fapi.crossref.org\u002Fworks\u002F10.1109\u002FTRO.2011.2170332","2011-12-02","metadata_verified","principle reused: identified by Forster et al. (ref. [2]) and by the GTSAM README as the origin of IMU preintegration, a concept reused in visual-inertial and LiDAR-inertial factor graphs.",[11],false,"corrected","NTU institutional (Chrome)","IEEE Xplore HTML full text of the version of record (T-RO 28(1):61-76, document 6092505, date of publication 29 November 2011), accessed through NTU institutional access in Chrome; verifier re-read the same HTML full text and additionally opened the version-of-record PDF (16 pages) in the Chrome PDF viewer through NTU access to read Tables II, III and IV (pp. 70-71)",[73,79,84],{"category":74,"model":75,"canonical":75,"role":76,"dataset":51,"specs":77,"locator":78},"imu","Honeywell HG1900","method input","600 Hz sampling; measured accelerometer noise 0.0775 m\u002Fs2 (1 sigma), gyroscope noise 0.001 rad\u002Fs (1 sigma), accelerometer bias stability +\u002F-0.003 m\u002Fs2, gyroscope bias stability +\u002F-6.0e-5 rad\u002Fs","Sec. VIII-A; Table II",{"category":80,"model":81,"canonical":81,"role":76,"dataset":51,"specs":82,"locator":83},"stereo_camera","Point Grey Research Bumblebee2","2.1 mm wide angle lenses; 6.25 Hz; 640 x 480 pixels; field of view 97 x 80 deg; angular resolution 0.2 deg at centre; stereo baseline 12 cm; range estimates accurate only to about 4 or 5 m (Sec. VIII-E)","Sec. VIII-A; Sec. VIII-E; Table III",{"category":85,"model":86,"canonical":86,"role":76,"dataset":51,"specs":87,"locator":88},"platform","hand-held sensor suite (stereo camera on top, IMU below)","hand held and carried around the buildings","Sec. VIII-A; Fig. 5",[],{"totalRows":91,"groupCount":92,"groups":93,"others":332},55,5,[94,237,273,306],{"slug":95,"group":96,"sourceId":5,"sourceLabel":6,"table":97,"selfRows":98,"metrics":99,"seqs":123,"entrants":136,"cells":140,"outcomes":231,"locators":232,"hardware":233,"wordings":234,"notes":235},"lupton2012preint-table-iv","lupton2012preint:Table IV","Table IV",45,[100,105,107,109,112,114,116,119,121],{"label":101,"unit":102,"statistic":103,"alignment":104},"estimated north position at a marked stationary pose","m","not_reported","first-pose",{"label":106,"unit":102,"statistic":103,"alignment":104},"estimated east position at a marked stationary pose",{"label":108,"unit":102,"statistic":103,"alignment":104},"estimated down position at a marked stationary pose",{"label":110,"unit":111,"statistic":103,"alignment":104},"estimated roll at a marked stationary pose","deg",{"label":113,"unit":111,"statistic":103,"alignment":104},"estimated pitch at a marked stationary pose",{"label":115,"unit":111,"statistic":103,"alignment":104},"estimated yaw at a marked stationary pose",{"label":117,"unit":118,"statistic":103,"alignment":104},"estimated north velocity at a marked stationary pose","m\u002Fs",{"label":120,"unit":118,"statistic":103,"alignment":104},"estimated east velocity at a marked stationary pose",{"label":122,"unit":118,"statistic":103,"alignment":104},"estimated down velocity at a marked stationary pose",[124,128,130,132,134],{"dataset":125,"sequence":126,"environment":127},"office validation sequence (Sec. VIII-C)","pose 1","normal office environment with two floor marks 9 m apart",{"dataset":125,"sequence":129,"environment":127},"pose 80",{"dataset":125,"sequence":131,"environment":127},"pose 186",{"dataset":125,"sequence":133,"environment":127},"pose 290",{"dataset":125,"sequence":135,"environment":127},"pose 430",[137],{"name":138,"methodId":5,"linkable":139,"proposed":139,"self":139},"stereo-inertial navigation with preintegrated inertial delta observations and SWFI (30-pose window)",true,[141,144,147,150,153,156,157,159,161,163,165,166,168,170,172,174,175,177,179,181,183,184,185,187,189,191,192,194,196,198,200,203,204,206,208,210,213,215,217,219,221,224,226,228,230],[142,142,142,142,143,142,143,143,142],0,-1,[142,142,145,146,143,142,143,143,142],1,9.0653,[142,142,148,149,143,142,143,143,142],2,0.0698,[142,142,151,152,143,142,143,143,142],3,8.9882,[142,142,154,155,143,142,143,143,142],4,-0.1074,[142,145,142,142,143,142,143,143,142],[142,145,145,158,143,142,143,143,142],-0.3422,[142,145,148,160,143,142,143,143,142],0.0578,[142,145,151,162,143,142,143,143,142],-0.2286,[142,145,154,164,143,142,143,143,142],0.1142,[142,148,142,142,143,142,143,143,142],[142,148,145,167,143,142,143,143,142],-0.009,[142,148,148,169,143,142,143,143,142],-0.0239,[142,148,151,171,143,142,143,143,142],0.0284,[142,148,154,173,143,142,143,143,142],0.0293,[142,151,142,142,143,142,143,143,142],[142,151,145,176,143,142,143,143,142],-0.1432,[142,151,148,178,143,142,143,143,142],0.0802,[142,151,151,180,143,142,143,143,142],-0.0115,[142,151,154,182,143,142,143,143,142],0.0401,[142,154,142,142,143,142,143,143,142],[142,154,145,142,143,142,143,143,142],[142,154,148,186,143,142,143,143,142],-0.6646,[142,154,151,188,143,142,143,143,142],-0.7792,[142,154,154,190,143,142,143,143,142],0.0516,[142,92,142,142,143,142,143,143,142],[142,92,145,193,143,142,143,143,142],0.3209,[142,92,148,195,143,142,143,143,142],-179.7655,[142,92,151,197,143,142,143,143,142],179.6796,[142,92,154,199,143,142,143,143,142],0.6761,[142,201,142,202,143,142,143,143,142],6,0.0046,[142,201,145,167,143,142,143,143,142],[142,201,148,205,143,142,143,143,142],0.0001,[142,201,151,207,143,142,143,143,142],-0.0002,[142,201,154,209,143,142,143,143,142],-0.0009,[142,211,142,212,143,142,143,143,142],7,0.0047,[142,211,145,214,143,142,143,143,142],0.0094,[142,211,148,216,143,142,143,143,142],-0.008,[142,211,151,218,143,142,143,143,142],0.004,[142,211,154,220,143,142,143,143,142],-0.0015,[142,222,142,223,143,142,143,143,142],8,0.0033,[142,222,145,225,143,142,143,143,142],-0.004,[142,222,148,227,143,142,143,143,142],0.0086,[142,222,151,229,143,142,143,143,142],-0.0081,[142,222,154,216,143,142,143,143,142],[],[97],[],[],[236],"Validation in a normal office: hand-held unit carried back and forth between two floor marks 9 m apart and set down on each mark, where its true location and velocity are known; estimated states at the stationary poses; navigation frame fixed to pose 1 (north, east, down of the first body frame, not globally referenced)",{"slug":238,"group":239,"sourceId":5,"sourceLabel":6,"table":240,"selfRows":154,"metrics":241,"seqs":247,"entrants":255,"cells":257,"outcomes":266,"locators":267,"hardware":269,"wordings":270,"notes":271},"lupton2012preint-text-sec-viii-f","lupton2012preint:Text Sec.VIII-F","Text Sec.VIII-F",[242,244],{"label":243,"unit":102,"statistic":103,"alignment":104},"final position error",{"label":245,"unit":246,"statistic":103,"alignment":104},"final position error as percentage of distance travelled","%",[248,252],{"dataset":249,"sequence":250,"environment":251},"University of Sydney buildings (Rose St. and Link)","dataset 1: Rose St. building, two floors, 713 image pairs, 114 s, about 120 m","two levels of the Rose St. building at The University of Sydney, including the back stairs",{"dataset":249,"sequence":253,"environment":254},"dataset 2: Rose St. and Link buildings, stairs and bridge, 1130 image pairs, 180 s, about 180 m","Rose St. and adjacent Link buildings: stairs, bridge between the buildings and outside (Fig. 12 also names a parking lot)",[256],{"name":138,"methodId":5,"linkable":139,"proposed":139,"self":139},[258,260,262,264],[142,142,142,259,143,142,143,143,142],0.82,[142,145,142,261,143,142,143,143,142],0.68,[142,142,145,263,143,142,143,143,142],2.5,[142,145,145,265,143,142,143,143,142],1.39,[],[268],"Sec. VIII-F; Tables VI-VII",[],[],[272],"Real-world hand-held walking datasets that start while moving and end near the start; final error of the last pose relative to the first; no loop closure",{"slug":274,"group":275,"sourceId":5,"sourceLabel":6,"table":276,"selfRows":151,"metrics":277,"seqs":287,"entrants":290,"cells":292,"outcomes":299,"locators":300,"hardware":302,"wordings":303,"notes":304},"lupton2012preint-text-sec-viii-c-gravity","lupton2012preint:Text Sec.VIII-C gravity","Text Sec.VIII-C gravity",[278,282,285],{"label":279,"unit":280,"statistic":281,"alignment":44},"average estimated gravity magnitude","m\u002Fs2","mean",{"label":283,"unit":246,"statistic":284,"alignment":44},"spread of estimated gravity magnitudes (within)","max",{"label":286,"unit":111,"statistic":284,"alignment":44},"maximum angular deviation between gravity estimates",[288],{"dataset":125,"sequence":289,"environment":127},"stationary poses",[291],{"name":138,"methodId":5,"linkable":139,"proposed":139,"self":139},[293,295,297],[142,142,142,294,143,142,143,143,142],9.796,[142,145,142,296,143,142,143,143,142],0.06,[142,148,142,298,143,142,143,143,142],0.12,[],[301],"Sec. VIII-C",[],[],[305],"Gravity vector estimated independently in successive sliding windows at the stationary poses of Table IV, without supplying the true magnitude; true value for Sydney 9.797 m\u002Fs2",{"slug":307,"group":308,"sourceId":5,"sourceLabel":6,"table":309,"selfRows":148,"metrics":310,"seqs":312,"entrants":316,"cells":321,"outcomes":325,"locators":326,"hardware":328,"wordings":329,"notes":330},"lupton2012preint-text-sec-viii-g","lupton2012preint:Text Sec.VIII-G","Text Sec.VIII-G",[311],{"label":243,"unit":102,"statistic":103,"alignment":104},[313],{"dataset":249,"sequence":314,"environment":315},"dataset 1: Rose St. building","two stories of the Rose St. office building",[317,319],{"name":318,"methodId":5,"linkable":139,"proposed":139,"self":139},"monocular-inertial navigation (scale from accelerometer)",{"name":320,"methodId":5,"linkable":139,"proposed":139,"self":139},"stereo-inertial navigation",[322,324],[142,142,142,323,143,142,143,143,142],2.9,[145,142,142,259,143,142,143,143,142],[],[327],"Sec. VIII-G",[],[],[331],"Dataset 1 processed with the left camera only plus IMU; weak range prior between the first two poses removed after ten image pairs; final position error compared with the stereo-inertial result",[333],{"group":334,"slug":335,"sourceLabel":6,"table":336,"selfRows":145,"datasets":337},"lupton2012preint:Text Sec.VIII-C","lupton2012preint-text-sec-viii-c","Text Sec.VIII-C",[125],1790510658775]