Abstract
There is an increasing demand for accurate and robust positioning in many application domains, such as the unmanned aerial vehicle (UAV) and autonomous driving vehicles (ADV). The integration of visual odometry and inertial navigation system (INS) is extensively studied to fulfill the positioning requirement. The visual odometry can provide aided positioning by matching consecutive frames of images. However, it can be sensitive to illumination conditions and features availability in urban environment. In this paper, we propose to evaluate the performance of tightly coupled visual/inertial integrated positioning in a typical urban scenario of Hong Kong based on existing state-of-the-art visual/inertial integration algorithm. The performance of visual/inertial integrated positioning is tested and validated in a typical urban scenario of Hong Kong which includes numerous dynamic participants, vehicles, pedestrians and trunks. The result shows that the visual/inertial integration can be affected in scenes with excessive
dynamic objects
dynamic objects
| Original language | English |
|---|---|
| Title of host publication | Proceedings of 2019 Asian-Pacific Conference on Aerospace Technology and Science, Taiwan |
| Pages | 1-9 |
| Publication status | Published - 29 Aug 2019 |