Multi-layer VI-GNSS Global Positioning Framework with Numerical Solution aided MAP Initialization
Bing Han,Zhongyang Xiao,Shuai Huang,Tao Zhang,Bing Han,Zhongyang Xiao,Shuai Huang,Tao Zhang
Motivated by the goal of achieving long-term drift-free camera pose estimation in complex scenarios, we propose a global positioning framework fusing visual, inertial and Global Navigation Satellite System (GNSS) measurements in multiple layers. Different from previous loosely- and tightly-coupled methods, the proposed multi-layer fusion allows us to delicately correct the drift of visual odometry...
