GPS-Denied Global Visual-Inertial Ground Vehicle State Estimation via Image Registration
Yehonathan Litman,Daniel McGann,Eric Dexheimer,Michael Kaess,Yehonathan Litman,Daniel McGann,Eric Dexheimer,Michael Kaess
Robotic systems such as unmanned ground vehicles (UGVs) often depend on GPS for navigation in outdoor environments. In GPS-denied environments, one approach to maintain a global state estimate is localizing based on preexisting georeferenced aerial or satellite imagery. However, this is inherently challenged by the significantly differing perspectives between the UGV and reference images. In this ...
