Tightly-Coupled Stereo Visual-Inertial Navigation Using Point and Line Features

This paper presents a novel approach for estimating the ego-motion of a vehicle in dynamic and unknown environments using tightly-coupled inertial and visual sensors. To improve the accuracy and robustness, we exploit the combination of point and line features to aid navigation. The mathematical fra...

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Detalles Bibliográficos
Autores principales: Kong, Xianglong, Wu, Wenqi, Zhang, Lilian, Wang, Yujie
Formato: Online Artículo Texto
Lenguaje:English
Publicado: MDPI 2015
Materias:
Article
Acceso en línea:https://www.ncbi.nlm.nih.gov/pmc/articles/PMC4507590/
https://www.ncbi.nlm.nih.gov/pubmed/26039422
http://dx.doi.org/10.3390/s150612816

Internet

https://www.ncbi.nlm.nih.gov/pmc/articles/PMC4507590/
https://www.ncbi.nlm.nih.gov/pubmed/26039422
http://dx.doi.org/10.3390/s150612816

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