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.
A sensor-centric EKF for inertial-aided visual odometry
2013-10-01
567715 byte
Aufsatz (Konferenz)
Elektronische Ressource
Englisch
British Library Conference Proceedings | 2020
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