Publication Date:
2018-09-06
Description:
Sensors, Vol. 18, Pages 2952: An Autonomous Vehicle Navigation System Based on Inertial and Visual Sensors Sensors doi: 10.3390/s18092952 Authors: Xingxing Guang Yanbin Gao Henry Leung Pan Liu Guangchun Li The strapdown inertial navigation system (SINS) is widely used in autonomous vehicles. However, the random drift error of gyroscope leads to serious accumulated navigation errors during long continuous operation of SINS alone. In this paper, we propose to combine the Inertial Measurement Unit (IMU) data with the line feature parameters from a camera to improve the navigation accuracy. The proposed method can also maintain the autonomy of the navigation system. Experimental results show that the proposed inertial-visual navigation system can mitigate the SINS drift and improve the accuracy, stability, and reliability of the navigation system.
Electronic ISSN:
1424-8220
Topics:
Chemistry and Pharmacology
,
Electrical Engineering, Measurement and Control Technology
