GPS-Denied Global Visual-Inertial Ground Vehicle State Estimation via Image Registration.
Yehonathan LitmanDaniel McGannEric DexheimerMichael KaessPublished in: ICRA (2022)
Keyphrases
- state estimation
- image registration
- kalman filter
- map matching
- particle filter
- kalman filtering
- state space model
- visual tracking
- inertial sensors
- extended kalman filter
- dynamic systems
- global positioning system
- land vehicle
- particle filtering
- coarse to fine
- visual features
- dynamic model
- traffic information
- image processing
- visual information
- remote sensing
- mobile robot
- ground vehicles