Stereo INS

The stereo-vision-aided Inertial Navigation System (INS) component is part of the sensor dynamics component. It combines visual-odometry measurements with inertial measurement unit (IMU) data and provides robust, low latency, real-time state estimates at a high rate. The IMU consists of three accelerometers and three gyroscopes, which measure accelerations and turn rates in all three dimensions. By fusing IMU and visual-odometry measurements, the state estimate has the same frequency as the IMU (200 Hz) and is very robust even under challenging lighting conditions and for fast motions.


The stereo INS component’s node name is rc_stereo_ins.

This component does not have any run-time parameters.

This component reports the following status values.

Table 12 The rc_stereo_ins component’s status values
Name Description
freq Frequency of the stereo INS process in Hertz. This value is shown as Update Rate in the Web GUI Overview tab in the Dynamics area
state Internal state