Visual-Inertial Localization With Prior LiDAR Map Constraints
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DOI: 10.1109/lra.2019.2927123
Abstract: In this letter, we develop a low-cost stereo visual-inertial localization system, which leverages efficient multi-state constraint Kalman filter (MSCKF)-based visual-inertial odometry (VIO) while utilizing an a priori LiDAR map to provide bounded-error three-dimensional navigation. Besides… read more here.
Keywords: prior lidar; map constraints; inertial localization; visual inertial ... See more keywords