IEEE - Institute of Electrical and Electronics Engineers, Inc. - Efficient and consistent vision-aided inertial navigation using line observations

2013 IEEE International Conference on Robotics and Automation (ICRA)

Author(s): Dimitrios G. Kottas ; Stergios I. Roumeliotis
Publisher: IEEE - Institute of Electrical and Electronics Engineers, Inc.
Publication Date: 1 May 2013
Conference Location: Karlsruhe, Germany
Conference Date: 6 May 2013
Page(s): 1,540 - 1,547
ISBN (Electronic): 978-1-4673-5643-5
ISBN (Paper): 978-1-4673-5641-1
ISSN (Paper): 1050-4729
DOI: 10.1109/ICRA.2013.6630775
Regular:

This paper addresses the problem of estimating the state of a vehicle moving in 3D based on inertial measurements and visual observations of lines. In particular, we investigate the observability... View More

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