Tightly-Coupled Single-Anchor Ultra-wideband-Aided Monocular Visual Odometry System
Thien Hoang Nguyen,Thien-Minh Nguyen,Lihua Xie,Thien Hoang Nguyen,Thien-Minh Nguyen,Lihua Xie
In this work, we propose a tightly-coupled odometry framework, which combines monocular visual feature observations with distance measurements provided by a single ultra-wideband (UWB) anchor with an initial guess for its location. Firstly, the scale factor and the anchor position in the vision frame will be simultaneously estimated using a variant of Levenberg-Marquardt non-linear least squares o...
