Graph-Based Adaptive Fusion of GNSS and VIO Under Intermittent GNSS-Degraded Environment

Consistent and accurate global positioning is a crucial problem for autonomous vehicles and robots. It is especially challenging in situations with a global navigation satellite system (GNSS) being intermittently degraded. We propose an adaptive fusion system, namely, GNSS/visual-inertial navigation...

Ausführliche Beschreibung

Gespeichert in:

Bibliographische Detailangaben
Veröffentlicht in:	IEEE transactions on instrumentation and measurement 2021, Vol.70, p.1-16
Hauptverfasser:	Gong, Zheng, Liu, Peilin, Wen, Fei, Ying, Rendong, Ji, Xingwu, Miao, Ruihang, Xue, Wuyang
Format:	Artikel
Sprache:	eng
Schlagworte:	Adaptive systems Algorithms Anti-interference Degradation Evaluation Fuses Global navigation satellite system global navigation satellite system (GNSS) Inertial navigation Inertial platforms Navigation systems Odometers Optimization Pose estimation pose-graph optimization sensor fusion Sensors Uncertainty visual-inertial odometry (VIO) Visualization
Online-Zugang:	Volltext bestellen
Tags:	Tag hinzufügen Keine Tags, Fügen Sie den ersten Tag hinzu!

Schreiben Sie den ersten Kommentar!