The Performance Analysis of Stereo Visual Odometry Assisted Low-Cost INS/GPS Integration System

Abstract

Visual Odometry (VO) is a new method using sequence images acquired from the vehicle which is in motion to estimate the movement. In this research, a novel method is proposed for assisting low-cost INS/GPS integration system with VO system. When GPS signal vanishes, VO can be applied as the backup for GPS to reduce the INS accumulation errors. In order to evaluate the proposed system, the tactical INS/GNSS trajectory is used as the reference trajectory. The Distances Traveled (DT) by low-cost INS/GPS and VO modes are calculated. In addition, this study also investigates the accuracy variation in both monocular and stereo-vision VO system, respectively. The purpose is to verify the argument presented in related work. According to the preliminary results, the stereo VO performs well and the position errors in three directions are reduced by using the assisted information including VO position and velocity. It verifies that the proposed integrated system is helpful and efficient in the aspect of increasing the accuracy when GPS signal blockages.