residualmvo

Residuals and residual covariance from monocular visual odometry measurements for insfilterErrorState

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Syntax

[pResidual,oResidual,resCov] = residualmvo(FUSE,position,positionCovariance,ornt,orntCovariance)

Description

[pResidual,oResidual,resCov] = residualmvo(FUSE,position,positionCovariance,ornt,orntCovariance) computes the residual information based on the monocular visual odometry measurements and 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 meters.

Rotation vector residual, returned 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™.

See Also

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Introduced in R2020a

Sensor Fusion and Tracking Toolbox Documentation

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