Night-Rider: Nocturnal Vision-aided Localization in Streetlight Maps Using Invariant Extended Kalman Filtering
Tianxiao Gao,Mingle Zhao,Chengzhong Xu,Hui Kong,Tianxiao Gao,Mingle Zhao,Chengzhong Xu,Hui Kong
Vision-aided localization for low-cost mobile robots in diverse environments has attracted widespread attention recently. Although many current systems are applicable in daytime environments, nocturnal visual localization is still an open problem owing to the lack of stable visual information. An insight from most nocturnal scenes is that the static and bright streetlights are reliable visual info...
