Abstract
The Visual-Inertial navigation system(VINS) has become a popular navigation approach in the field of unmanned aerial vehicles(UAV) or robotics. While its performance under autonomous driving scenario is not satisfactory due to the fact that autonomous driving scenario is more challenging and dynamic than the UAV scenario. Thus, the Visual-Inertial navigation system will collapse occasionally and thus undermine the navigation result. In this work, we propose a adaptive mechanism that could switch between three modes, only VINs, only GNSS and VINS&GNSS fusion. When Visual-Inertial component breaks down, our algorithm could only rely on the GNSS signal until VINS recovers. Similarly, when GNSS signal is not very accurate, our system could only rely on the VINS-Mono. We demonstrate our algorithm under challenging scenarios such as night sight and high speed road and do both qualitative analysis and quantitative analysis.
Talk to us
Join us for a 30 min session where you can share your feedback and ask us any queries you have
Schedule a callDisclaimer: All third-party content on this website/platform is and will remain the property of their respective owners and is provided on "as is" basis without any warranties, express or implied. Use of third-party content does not indicate any affiliation, sponsorship with or endorsement by them. Any references to third-party content is to identify the corresponding services and shall be considered fair use under The CopyrightLaw.
