This paper introduces a novel GPS-aided visual-wheel odometry (GPS-VWO) for ground robots. The state estimation algorithm tightly fuses visual, wheeled encoder and GPS measurements in the way of Multi-State Constraint Kalman Filter (MSCKF). To avoid accumulating calibration errors over time, the proposed algorithm calculates the extrinsic rotation parameter between the GPS global coordinate frame and the VWO reference frame online as part of the estimation process. The convergence of this extrinsic parameter is guaranteed by the observability analysis and verified by using real-world visual and wheel encoder measurements as well as simulated GPS measurements. Moreover, a novel theoretical finding is presented that the variance of unobservable state could converge to zero for specific Kalman filter system. We evaluate the proposed system extensively in large-scale urban driving scenarios. The results demonstrate that better accuracy than GPS is achieved through the fusion of GPS and VWO. The comparison between extrinsic parameter calibration and non-calibration shows significant improvement in localization accuracy thanks to the online calibration.


    Zugriff

    Zugriff prüfen

    Verfügbarkeit in meiner Bibliothek prüfen

    Bestellung bei Subito €


    Exportieren, teilen und zitieren



    Titel :

    GPS-aided Visual Wheel Odometry


    Beteiligte:


    Erscheinungsdatum :

    24.09.2023


    Format / Umfang :

    552200 byte





    Medientyp :

    Aufsatz (Konferenz)


    Format :

    Elektronische Ressource


    Sprache :

    Englisch



    WHEEL ODOMETRY AIDED VISUAL-INERTIAL ODOMETRY FOR LAND VEHICLE NAVIGATION IN WINTER URBAN ENVIRONMENTS

    Huang, Cheng / Jiang, Yang / O Keefe, Kyle | British Library Conference Proceedings | 2020


    RADAR AIDED VISUAL INERTIAL ODOMETRY INITIALIZATION

    NIESEN URS | Europäisches Patentamt | 2019

    Freier Zugriff

    Radar aided visual inertial odometry initialization

    NIESEN URS | Europäisches Patentamt | 2020

    Freier Zugriff

    RADAR AIDED VISUAL INERTIAL ODOMETRY OUTLIER REMOVAL

    NIESEN URS | Europäisches Patentamt | 2019

    Freier Zugriff

    Radar aided visual inertial odometry outlier removal

    NIESEN URS | Europäisches Patentamt | 2019

    Freier Zugriff