3 accepted papers
Odometer-aided visual-inertial SLAM systems typically have a good performance for navigation of wheeled platforms, while they usually suffer from degenerate cases before the first turning. In this paper, firstly we perform an observability analysis w.r.t. the extrinsic parameters before the first tu
Unlike loose coupling approaches and the EKF-based approaches in the literature, we propose an optimization-based visual-inertial SLAM tightly coupled with raw Global Navigation Satellite System (GNSS) measurements, a first attempt of this kind in the literature to our knowledge. More specifically,…
Combining camera, IMU and wheel encoder is a wise choice for car positioning because of the low cost and complementarity of the sensors. We propose a novel extended visual-inertial odometry algorithm tightly fusing data from the above three sensors. Firstly we propose an IMU-odometer pre-integration…