Intermittent GPS-aided VIO: Online Initialization and Calibration
Woosik Lee,Kevin Eckenhoff,Patrick Geneva,Guoquan Huang,Woosik Lee,Kevin Eckenhoff,Patrick Geneva,Guoquan Huang
In this paper, we present an efficient and robust GPS-aided visual inertial odometry (GPS-VIO) system that fuses IMU-camera data with intermittent GPS measurements. To perform sensor fusion, spatiotemporal sensor calibration and initialization of the transform between the sensor reference frames are required. We propose an online calibration method for both the GPS-IMU extrinsics and time offset a...
