计算机工程与应用2025，Vol.61Issue(2)：1-18,18.DOI:10.3778/j.issn.1002-8331.2406-0038
面向视觉惯导的导航系统初始化技术综述
Review of Initialization Technology for Visual-Inertial Navigation Systems
摘要
Abstract
The visual-inertial systems are one of the most widely used basic sensor systems in navigation,and its separate use or combined use with other systems is the main scheme of sensor configuration at present.Initialization technology,as the front end of the navigation processes,determines the success or failure of navigation,so it has been studied extensively.At present,the methods related to initialization are rich in variety and engineering,but there is a lack of more comprehen-sive and systematic reviews.Meanwhile,although there are mature initialization paradigms,the initialization process still has a high failure rate in practice,and some initialization methods that demonstrate good navigation effects are not publicly available.With the escalation of missions and the innovation in technology,new visual-inertial systems and artificial intel-ligence have also brought new enhancements and challenges to the initialization.This paper summarizes the visual inertial navigation system and initialization technology,and then researches and discusses the key technologies in the initialization process in detail.After presenting classical initialization frameworks,the paper concludes with a summary and prospects.关键词
视觉惯导/导航系统/初始化技术/标定/人工智能Key words
visual-inertial/navigation systems/initialization technology/calibration/artificial intelligence分类
信息技术与安全科学引用本文复制引用
刘悦,李化义,张世杰,张超,赵祥天..面向视觉惯导的导航系统初始化技术综述[J].计算机工程与应用,2025,61(2):1-18,18.基金项目
国家自然科学基金(62401071) （62401071）
上海航天科技创新基金(SAST2021-030). （SAST2021-030）
