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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...
| Autores principales: | , , , , |
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| Formato: | Online Artículo Texto |
| Lenguaje: | English |
| Publicado: |
MDPI
2020
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| Materias: | |
| 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 |