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ROVINS: Robust Omnidirectional Visual Inertial Navigation System
IEEE Robotics and Automation Letters, 2020Visual odometry is an essential component in robot navigation and autonomous driving; however, visual sensors are vulnerable in fast motion or sudden illumination changes.
Hochang Seok, Jongwoo Lim
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Robust and Autonomous Stereo Visual-Inertial Navigation for Non-Holonomic Mobile Robots
IEEE Transactions on Vehicular Technology, 2020Unlike micro aerial vehicles, most mobile robots have non-holonomic constraints, which makes lateral movement impossible. Consequently, the vision-based navigation systems that perform accurate visual feature initialization by moving the camera to the ...
Hee-Won Chae, Ji-Hoon Choi, Jae-Bok Song
semanticscholar +1 more source
IEEE Sensors Journal, 2019
Foot-mounted inertial navigation is an important issue in areas such as pedestrian localization, gait analysis, and sport training. However, low-cost inertial sensors suffer from several errors that make the navigation results less convincing.
Hongyu Zhao +6 more
semanticscholar +1 more source
Foot-mounted inertial navigation is an important issue in areas such as pedestrian localization, gait analysis, and sport training. However, low-cost inertial sensors suffer from several errors that make the navigation results less convincing.
Hongyu Zhao +6 more
semanticscholar +1 more source
EKF-Based Visual Inertial Navigation Using Sliding Window Nonlinear Optimization
IEEE transactions on intelligent transportation systems (Print), 2019In this paper, we present a hybrid visual inertial navigation algorithm for an autonomous and intelligent vehicle that combines the multi-state constraint Kalman filter (MSCKF) with the nonlinear visual-inertial graph optimization.
Se-jong Heo +2 more
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IEEE Vehicular Technology Conference, 2019
A framework for simultaneously tracking Orbcomm low Earth orbit (LEO) satellites and using Doppler measurements drawn from their signals to aid a vehicle’s inertial navigation system (INS) is developed.
Joshua Morales +2 more
semanticscholar +1 more source
A framework for simultaneously tracking Orbcomm low Earth orbit (LEO) satellites and using Doppler measurements drawn from their signals to aid a vehicle’s inertial navigation system (INS) is developed.
Joshua Morales +2 more
semanticscholar +1 more source
Gravity Disturbance Compensation for Inertial Navigation System
IEEE Transactions on Instrumentation and Measurement, 2019This paper investigates the gravity disturbance compensation for inertial navigation system based on high-resolution global gravity field models. The high-precision gravity is calculated using the European Improved Gravity model of the Earth by New ...
Lubin Chang, F. Qin, Mei-ping Wu
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Strapdown Inertial Navigation System Initial Alignment Based on Modified Process Model
IEEE Sensors Journal, 2019In this paper, the nonlinear initial alignment method for Strapdown inertial navigation system is investigated. As an important part of the nonlinear initial alignment method, the dynamic model based on nonlinear error equations is re-derived with the ...
Lubin Chang, F. Qin, Sai Jiang
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Navigation, 2018
Kinematic constrained navigation is a subset of model-aided navigation systems that is attractive because of its independence from extra hardware equipment. In this study, the error-based Kalman Filter is used for the data fusion process through feedback
Ali Karmozdi, M. Hashemi, H. Salarieh
semanticscholar +1 more source
Kinematic constrained navigation is a subset of model-aided navigation systems that is attractive because of its independence from extra hardware equipment. In this study, the error-based Kalman Filter is used for the data fusion process through feedback
Ali Karmozdi, M. Hashemi, H. Salarieh
semanticscholar +1 more source
Scenario-Dependent ZUPT-Aided Pedestrian Inertial Navigation with Sensor Fusion
Gyroscopy and Navigation, 2021Yusheng Wang, Chi-Shih Jao, A. Shkel
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Enhancing navigation performance through visual-inertial odometry in GNSS-degraded environment
GPS Solutions, 2021Jianchi Liao +4 more
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