Extended VINS-Mono: A Systematic Approach for Absolute and Relative Vehicle Localization in Large-Scale Outdoor Environments
Mengwen He,Ragunathan Raj Rajkumar,Mengwen He,Ragunathan Raj Rajkumar
We present a systematic approach called Extended VINS-Mono to utilize VINS-Mono, a state-of-the-art monocular visual-inertial relative localization method, targeting practical vehicle localization in large-scale outdoor road environments. Our proposed fusion approach associates multiple independent localization methods and provides multiple (projected) state estimates in a desired coordinate syste...
