With the development of computer vision technology and image processing technology, visual navigation technology has been applied more and more in the navigation and positioning of autonomous mobile platforms, but visual navigation mainly depends on image quality and scene texture information. The inertial sensor (IMU) can measure the angular velocity and acceleration of the sensor body and can provide high-precision pose information in a short time. Both sensors have the advantages of small size, light weight, and low cost. In this thesis, the positioning technology based on binocular visual odometry algorithm which provided pose information for the sports carriers. Meanwhile,, The INS-assisted visual odometry and an integrated navigation methods were studied based on the characteristics of the vision and IMU and their complementary characteristics.
Research on the Integrated Navigation Technology of Inertial-Aided Visual Odometry
2018-08-01
421978 byte
Aufsatz (Konferenz)
Elektronische Ressource
Englisch
Multi-frame Visual Odometry in Image-Aided Inertial Navigation System
British Library Conference Proceedings | 2015
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