When appropriate infrastructure is not available, localization of pedestrians becomes a difficult task. This is especially the case in urban or indoor scenarios, where satellite navigation is hindered due to occlusions or multipath effects. A promising alternative is to combine a small, low-cost inertial measurement unit (IMU) with a camera in order to exploit the complementary error characteristics of these devices by simultaneously estimating the positions of observed landmarks and the trajectory of the sensor system with a stochastic filter.


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    Titel :

    A sensor-centric EKF for inertial-aided visual odometry


    Beteiligte:
    Kleinert, Markus (Autor:in) / Stilla, Uwe (Autor:in)


    Erscheinungsdatum :

    2013-10-01


    Format / Umfang :

    567715 byte




    Medientyp :

    Aufsatz (Konferenz)


    Format :

    Elektronische Ressource


    Sprache :

    Englisch



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