Systems and methods for using a global positioning system velocity in visual-inertial odometry

An electronic device, comprising:

• a memory;
• a processor coupled to the memory, wherein the processor is configured to:
• determine a predicted velocity relative to Earth corresponding to a first epoch using a camera and an inertial measurement unit (IMU);
• determine, using a Global Positioning System (GPS) receiver, a GPS velocity relative to Earth;
• determine a difference vector between the predicted velocity and the GPS velocity;
• refine a bias estimate and a scale factor estimate of IMU measurements proportional to the difference vector;
• refine a misalignment estimate between the camera and the IMU based on the difference vector;
• and
• provide pose information based on the refined bias estimate, the refined scale factor estimate, and the refined misalignment estimate.

A non-transitory tangible computer-readable medium storing computer executable code, comprising:

• code for causing an electronic device to determine a predicted velocity relative to Earth corresponding to a first epoch using a camera and an inertial measurement unit (IMU);
• code for causing the electronic device to determine, using a Global Positioning System (GPS) receiver, a GPS velocity relative to Earth;
• code for causing the electronic device to determine a difference vector between the predicted velocity and the GPS velocity;
• code for causing the electronic device to refine a bias estimate and a scale factor estimate of IMU measurements proportional to the difference vector;
• code for causing the electronic device to refine a misalignment estimate between the camera and the IMU based on the difference vector;
• and
• code for causing the electronic device to provide pose information based on the refined bias estimate, the refined scale factor estimate, and the refined misalignment estimate.

An apparatus, comprising:

• means for determining a predicted velocity relative to Earth corresponding to a first epoch using a camera and an inertial measurement unit (IMU);
• means for determining a GPS velocity relative to Earth;
• means for determining a difference vector between the predicted velocity and the GPS velocity;
• means for refining a bias estimate and a scale factor estimate of IMU measurements proportional to the difference vector;
• means for refining a misalignment estimate between the camera and the IMU based on the difference vector;
• and
• means for providing pose information based on the refined bias estimate, the refined scale factor estimate, and the refined misalignment estimate.