Title: Low-speed Unmanned Vehicle Localization Based on Sensor Fusion of Low-cost Stereo Camera and IMU
Abstract: The problem of low-speed unmanned vehicle localization in GNSS signals denied areas is considered in the paper, and a low-speed unmanned vehicle localization method that fuse low-cost binocular camera and IMU is developed to achieve accurate and robust pose estimation. A framework which can be utilized to tightly couple the stereo camera and IMU observation is proposed first based on the S-MSCKF algorithm. The low-speed unmanned vehicle localization platform that fuse camera and IMU is then designed to support practical application. Finally, the experiments in real-world are performed with the platform to validate the effectiveness of the proposed localization method.
Publication Year: 2021
Publication Date: 2021-10-29
Language: en
Type: article
Indexed In: ['crossref']
Access and Citation
Cited By Count: 1
AI Researcher Chatbot
Get quick answers to your questions about the article from our AI researcher chatbot