Sri International

Lu Wang

Rakesh Kumar

Supun Samarasekera

Taragay Oskiper

Han-Pang Chiu

Zhiwei Zhu

Raia Hadsell

A method and apparatus for providing three-dimensional navigation for a node comprising an inertial measurement unit for providing gyroscope, acceleration and velocity information (collectively IMU information); a ranging unit for providing distance information relative to at least one reference node; at least one visual sensor for providing images of an environment surrounding the node; a preprocessor, coupled to the inertial measurement unit, the ranging unit and the plurality of visual sensors, for generating error states for the IMU information, the distance information and the images; and an error-state predictive filter, coupled to the preprocessor, for processing the error states to produce a three-dimensional pose of the node.

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Plainsboro, NJ, United States of America

Lu Wang