Online Calibration of a Single-Track Ground Vehicle Dynamics Model by Tight Fusion with Visual-Inertial Odometry
Haolong Li,Joerg Stueckler,Haolong Li,Joerg Stueckler
Wheeled mobile robots need the ability to estimate their motion and the effect of their control actions for navigation planning. In this paper, we present ST-VIO, a novel approach which tightly fuses a single-track dynamics model for wheeled ground vehicles with visual-inertial odometry (VIO). Our method calibrates and adapts the dynamics model online to improve the accuracy of forward prediction ...
