Abstract
The strapdown inertial navigation system (SINS) is widely used in autonomous vehicles. However, the random drift error of gyroscope leads to serious accumulated navigation errors during long continuous operation of SINS alone. In this paper, we propose to combine the Inertial Measurement Unit (IMU) data with the line feature parameters from a camera to improve the navigation accuracy. The proposed method can also maintain the autonomy of the navigation system. Experimental results show that the proposed inertial-visual navigation system can mitigate the SINS drift and improve the accuracy, stability, and reliability of the navigation system.
Funder
China Scholarship Council
Natural Science Foundation of Heilongjiang Province
Subject
Electrical and Electronic Engineering,Biochemistry,Instrumentation,Atomic and Molecular Physics, and Optics,Analytical Chemistry
Cited by
12 articles.
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