Consistent Monocular Ackermann Visual–Inertial Odometry for Intelligent and Connected Vehicle Localization
The observability of the scale direction in visual–inertial odometry (VIO) under degenerate motions of intelligent and connected vehicles can be improved by fusing Ackermann error state measurements. However, the relative kinematic error measurement model assumes that the vehicle velocity is constan...
| Main Authors: | , , , , |
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| Format: | Article |
| Language: | English |
| Published: |
MDPI AG
2020-10-01
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| Series: | Sensors |
| Subjects: | |
| Online Access: | https://www.mdpi.com/1424-8220/20/20/5757 |