An Enhanced Pedestrian Visual-Inertial SLAM System Aided with Vanishing Point in Indoor Environments

The visual-inertial simultaneous localization and mapping (SLAM) is a feasible indoor positioning system that combines the visual SLAM with inertial navigation. There are accumulated drift errors in inertial navigation due to the state propagation and the bias of the inertial measurement unit (IMU)...

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Bibliographic Details
Published in:Sensors
Main Authors: Wennan Chai, Chao Li, Mingyue Zhang, Zhen Sun, Hao Yuan, Fanyu Lin, Qingdang Li
Format: Article
Language:English
Published: MDPI AG 2021-11-01
Subjects:
simultaneous localization and mapping
inertial navigation system
vanishing point
local optimization
global optimization
pedestrian dead reckoning
Online Access:https://www.mdpi.com/1424-8220/21/22/7428

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https://www.mdpi.com/1424-8220/21/22/7428

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