Tightly-Coupled Stereo Visual-Inertial Navigation Using Point and Line Features
This paper presents a novel approach for estimating the ego-motion of a vehicle in dynamic and unknown environments using tightly-coupled inertial and visual sensors. To improve the accuracy and robustness, we exploit the combination of point and line features to aid navigation. The mathematical fra...
| Main Authors: | , , , |
|---|---|
| Format: | Article |
| Language: | English |
| Published: |
MDPI AG
2015-06-01
|
| Series: | Sensors |
| Subjects: | |
| Online Access: | http://www.mdpi.com/1424-8220/15/6/12816 |