Abstract
We present a sensor fusion system composed of a micro-electro-mechanical systems (MEMS) inertial measurement unit (IMU) and a stereo camera for land vehicle positioning in global positioning system (GPS)-denied environment. Our approach uses an error state Kalman filter, whose novelty lies in the introduction of two new states: 1) the time synchronization error between visual odometry (VO) and inertial sensors and 2) the VO heading bias. These two error states improve the quality of the vehicle's location estimate, as demonstrated by our tests on real-world data, collected with a sensor-outfitted vehicle. Our approach typically produces a mean circular error of 22 m after 5 min of GPS-denied travel, over an average distance of 1.7 km. These results are in agreement with a best possible theoretical estimate based on the low-cost ADIS16470 IMU, characterized by a 8 °/hr bias instability.
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