Tightly-coupled GNSS-aided Visual-Inertial Localization
Woosik Lee,Patrick Geneva,Yulin Yang,Guoquan Huang,Woosik Lee,Patrick Geneva,Yulin Yang,Guoquan Huang
A navigation system which can output drift-free global trajectory estimation with local consistency holds great potential for autonomous vehicles and mobile devices. We propose a tightly-coupled GNSS-aided visual-inertial navigation system (GAINS) which is able to leverage the complementary sensing modality from a visual-inertial sensing pair, which provides high-frequency local information, and a...
