Abstract
In order to improve the positioning accuracy and system reliability of the visual odometer in outdoor environment, this paper proposes an unmanned vehicle positioning system using monocular camera and Inertial measurement unit (IMU). The system uses improved ORB algorithm to extract image feature points and establishes a tightly coupled visual-inertial odometer system based on sliding window and nonlinear optimization. Verified by experiment, it can adapt to the environment of changing light, and can complete the positioning task of unmanned vehicles in the outdoor environment.
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