Consistent Monocular Ackermann Visual–Inertial Odometry for Intelligent and Connected Vehicle Localization

The observability of the scale direction in visual–inertial odometry (VIO) under degenerate motions of intelligent and connected vehicles can be improved by fusing Ackermann error state measurements. However, the relative kinematic error measurement model assumes that the vehicle velocity is constan...

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Detalles Bibliográficos
Autores principales: Ma, Fangwu, Shi, Jinzhu, Wu, Liang, Dai, Kai, Zhong, Shouren
Formato: Online Artículo Texto
Lenguaje:English
Publicado: MDPI 2020
Materias:
Article
Acceso en línea:https://www.ncbi.nlm.nih.gov/pmc/articles/PMC7599964/
https://www.ncbi.nlm.nih.gov/pubmed/33050512
http://dx.doi.org/10.3390/s20205757

Internet

https://www.ncbi.nlm.nih.gov/pmc/articles/PMC7599964/
https://www.ncbi.nlm.nih.gov/pubmed/33050512
http://dx.doi.org/10.3390/s20205757

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