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Title:

Mitigation of odometry drift with a single ranging link in GNSS-limited environments

Document type:
Konferenzbeitrag
Contribution type:
Textbeitrag / Aufsatz
Author(s):
Young-Hee Lee, Chen Zhu, Gabriele Giorgi, Christoph Günther
Pages contribution:
1117 - 1126
Abstract:
Vision-based systems can estimate the vehicle’s positions and attitude with a low cost and simple implementation, but the performance is very sensitive to environmental conditions. Moreover, estimation errors are accumulated without a bound since visual odometry is a dead-reckoning process. To improve the robustness to environmental conditions, vision-based systems can be augmented with inertial sensors, and the loop closing technique can be applied to reduce the drift. However, only with on-boa...     »
Book / Congress title:
International Techincal Meeting (ITM) 2020, Institute of Navigation (ION)
Organization:
Institute of Navigation (ION)
Date of congress:
Jan. 21-24, 2020
Year:
2020
Reviewed:
ja
Language:
en
WWW:
https://doi.org/10.33012/2020.17213
Semester:
WS 19-20
TUM Institution:
Lehrstuhl für Kommunikation und Navigation
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