Tightly-Coupled Aided Inertial Navigation with Point and Plane Features

This paper presents a tightly-coupled aided inertial navigation system (INS) with point and plane features, a general sensor fusion framework applicable to any visual and depth sensor (e.g., RGBD, LiDAR) configuration, in which the camera is used for point feature tracking and depth sensor for plane extraction. The proposed system exploits geometrical structures (planes) of the environments and adopts the closest point (CP) for plane parameterization. Moreover, we distinguish planar point features from non-planar point features in order to enforce point-on-plane constraints which are used in our state estimator, thus further exploiting structural information from the environment. We also introduce a simple but effective plane feature initialization algorithm for feature-based simultaneous localization and mapping (SLAM). In addition, we perform online spatial calibration between the IMU and the depth sensor as it is difficult to obtain this critical calibration parameter in high precision. Both Monte-Carlo simulations and real-world experiments are performed to validate the proposed approach.