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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    Title :

    A sensor-centric EKF for inertial-aided visual odometry


    Contributors:


    Publication date :

    2013-10-01


    Size :

    567715 byte




    Type of media :

    Conference paper


    Type of material :

    Electronic Resource


    Language :

    English



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