Optimization-Based Visual-Inertial SLAM Tightly Coupled with Raw GNSS Measurements
文献类型：会议论文
| 作者 | Liu, Jinxu1,2 ; Gao, Wei1,2; Hu, Zhanyi1,2
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| 出版日期 | 2021-05-31 |
| 会议日期 | 2021年5月31日至6月4日 |
| 会议地点 | 中国西安 |
| 英文摘要 | Unlike loose coupling approaches and the EKF-based approaches in the literature, we propose an optimization-based visual-inertial SLAM tightly coupled with raw Global Navigation Satellite System (GNSS) measurements, a first attempt of this kind in the literature to our knowledge. More specififically, reprojection error, IMU pre-integration error and raw GNSS measurement error are jointly minimized within a sliding window, in which the asynchronism between images and raw GNSS measurements is accounted for. In addition, issues such as marginalization, noisy measurements removal, as well as tackling vulnerable situations are also addressed. Experimental results on public dataset in complex urban scenes show that our proposed approach outperforms state-of-the-art visual-inertial SLAM, GNSS single point positioning, as well as a loose coupling approach, including scenes mainly containing low-rise buildings and those containing urban canyons.
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| 会议录出版者 | IEEE |
| 源URL | [http://ir.ia.ac.cn/handle/173211/44969]  |
| 专题 | 自动化研究所_模式识别国家重点实验室_机器人视觉团队 |
| 通讯作者 | Gao, Wei |
| 作者单位 | 1.National Laboratory of Pattern Recognition, Institute of Automation, Chinese Academy of Sciences 2.School of Artificial Intelligence, University of Chinese Academy of Sciences |
| 推荐引用方式 GB/T 7714 | Liu, Jinxu,Gao, Wei,Hu, Zhanyi. Optimization-Based Visual-Inertial SLAM Tightly Coupled with Raw GNSS Measurements[C]. 见:. 中国西安. 2021年5月31日至6月4日. |
入库方式： OAI收割
来源：自动化研究所
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