Stereo visual odometry with velocity constraint for ground vehicle applications

This paper proposes a novel method of error mitigation for stereo visual odometry (VO) applied in land vehicles. A non-holonomic constraint (NHC), which imposes physical constraint to the rightward velocity of a land vehicle, is implemented as an observation in an extended Kalman filter (EKF) to red...

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Veröffentlicht in:	Journal of navigation 2021-09, Vol.74 (5), p.1026-1038
Hauptverfasser:	Liu, Fei, Balazadegan Sarvrood, Yashar, Liu, Yue, Gao, Yang
Format:	Artikel
Sprache:	eng
Schlagworte:	Angular velocity Cameras Errors Extended Kalman filter Kalman filters Mitigation Navigation systems Odometers Position errors Sensors State vectors Velocity Velocity errors
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