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A Tightly Coupled Visual-Inertial GNSS State Estimator Based on Point-Line Feature
Visual-inertial odometry (VIO) is known to suffer from drifting and can only provide local coordinates. In this paper, we propose a tightly coupled GNSS-VIO system based on point-line features for robust and drift-free state estimation. Feature-based methods are not robust in complex areas such as w...
| Autores principales: | , |
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| Formato: | Online Artículo Texto |
| Lenguaje: | English |
| Publicado: |
MDPI
2022
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| Materias: | |
| Acceso en línea: | https://www.ncbi.nlm.nih.gov/pmc/articles/PMC9102579/ https://www.ncbi.nlm.nih.gov/pubmed/35591081 http://dx.doi.org/10.3390/s22093391 |