Vehicle localization with tightly coupled GNSS and visual odometry.
Markus SchreiberHendrik KönigshofAndre-Marcel HellmundChristoph StillerPublished in: Intelligent Vehicles Symposium (2016)
Keyphrases
- tightly coupled
- visual odometry
- visual navigation
- simultaneous localization and mapping
- position information
- fine grained
- autonomous navigation
- loosely coupled
- long range
- general purpose
- mobile robot
- ego motion
- kalman filtering
- kalman filter
- dynamic environments
- indoor environments
- mobile robotics
- navigation systems
- real time
- particle filter
- depth images
- data association
- extended kalman filter
- real environment
- global positioning system
- robot navigation
- camera pose
- range data
- path planning
- optical flow
- computer vision