Abstract
Accurate positioning of moving vehicles in GNSS-deprived urban areas is important for autonomous vehicles and mobile mapping systems. In this paper, we discuss various approaches to vehicle positioning in the absence of GNSS signals. We explore the potential of visual-inertial odometry, and present experimental results that show visual-inertial odometry can provide positioning accuracies up to 0.9% of the trajectory length, which is promising for vehicle positioning in short periods of GNSS signal outage.
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