Method of Integrated Analysis of Visual-inertial Data of a Mobile Robotic System

Authors

DOI:

https://doi.org/10.18372/1990-5548.89.21478

Keywords:

mobile robotic system, visual-inertial data, integrated data processing, multisensor data fusion, autonomous navigation, state estimation, trajectory planning, , information processing model

Abstract

This article presents a method for adaptive integrated processing of visual and inertial data in mobile robotic systems under conditions of sensor noise and temporal inconsistency. The method combines state prediction, sensor observation modelling, uncertainty estimation, and adaptive weighting of heterogeneous measurements according to their current reliability. Unlike fixed-weight fusion, the proposed approach dynamically redistributes the contribution of visual and inertial data during state estimation. Simulation results demonstrate reduced positioning error and improved stability under sensor degradation and temporal delays. The method can be applied in autonomous navigation and positioning systems operating under uncertain conditions.

Author Biographies

Svitlana Kashkevych , National University “Kyiv Aviation Institute”

Candidate of Technical Sciences

Senior Lecturer

Department of Intelligent Cybernetic Systems

Serhii Podelskyi , National University “Kyiv Aviation Institute”

Postgraduate Student

Department of Intelligent Cybernetic Systems

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Published

2026-09-18

How to Cite

Kashkevych , S., & Podelskyi , S. (2026). Method of Integrated Analysis of Visual-inertial Data of a Mobile Robotic System. Electronics and Control Systems, 3(89), 79–88. https://doi.org/10.18372/1990-5548.89.21478

Issue

Vol. 3 No. 89 (2026)

Section

INFORMATION SYSTEMS AND TECHNOLOGIES

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Copyright (c) 2026 Світлана Олександрівна Кашкевич , Сергій Валерійович Подельський

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