Global Visual–Inertial Localization for Autonomous Vehicles with Pre-Built Map
Author:
Affiliation:
1. Department of Precision Instrument, Tsinghua University, Beijing 100084, China
2. Robotics X, Tencent, Shenzhen 518057, China
Abstract
Funder
National Natural Science Foundation of China
Publisher
MDPI AG
Subject
Electrical and Electronic Engineering,Biochemistry,Instrumentation,Atomic and Molecular Physics, and Optics,Analytical Chemistry
Link
https://www.mdpi.com/1424-8220/23/9/4510/pdf
Reference35 articles.
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2. Li, M., and Mourikis, A.I. (2012, January 14–18). Improving the accuracy of EKF-based visual-inertial odometry. Proceedings of the 2012 IEEE International Conference on Robotics and Automation, Saint Paul, MN, USA.
3. Geneva, P., Eckenhoff, K., Lee, W., Yang, Y., and Huang, G. (August, January 31). OpenVINS: A Research Platform for Visual-Inertial Estimation. Proceedings of the 2020 IEEE International Conference on Robotics and Automation (ICRA), Paris, France.
4. Keyframe-Based Visual-Inertial Odometry Using Nonlinear Optimization;Leutenegger;Int. J. Rob. Res.,2015
5. VINS-Mono: A Robust and Versatile Monocular Visual-Inertial State Estimator;Qin;IEEE Trans. Robot.,2018
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