InGVIO: A Consistent Invariant Filter for Fast and High-Accuracy GNSS-Visual-Inertial Odometry.

Changwu Liu Chen Jiang Haowen Wang

Published in: CoRR (2022)

Keyphrases

high accuracy
inertial sensors
sensor fusion
position and orientation
visual features
visual information
dynamic model
calibration method
visual perception
rapid convergence
motion sequences
filtering algorithm
high efficiency
affine invariant
affine transformation
kalman filter
image enhancement