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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...
| Autores principales: | , , , |
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| Formato: | Online Artículo Texto |
| Lenguaje: | English |
| Publicado: |
MDPI
2015
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| Materias: | |
| 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 |