Matches in SemOpenAlex for { <https://semopenalex.org/work/W4313449032> ?p ?o ?g. }
Showing items 1 to 100 of
100
with 100 items per page.
- W4313449032 endingPage "223" @default.
- W4313449032 startingPage "216" @default.
- W4313449032 abstract "Visual navigation systems are susceptible to complex environments, while inertial navigation systems (INS) are not affected by external factors. Hence, we present IC-GVINS, a robust, real-time, INS-centric global navigation satellite system (GNSS)-visual-inertial navigation system to fully utilize the INS advantages. The Earth rotation has been compensated in the INS to improve the accuracy of high-grade inertial measurement units (IMUs). To promote the system robustness in high-dynamic conditions, the precise INS information is employed to assist the feature tracking and landmark triangulation. With a GNSS-aided initialization, the IMU, visual, and GNSS measurements are tightly fused in a unified world frame within the factor graph optimization framework. Dedicated experiments were conducted in the public vehicle and private robot datasets to evaluate the proposed method. The results demonstrate that IC-GVINS exhibits superior robustness and accuracy in complex environments. The proposed method with the INS-centric architecture yields improved robustness and accuracy compared to the state-of-the-art methods." @default.
- W4313449032 created "2023-01-06" @default.
- W4313449032 creator A5004961709 @default.
- W4313449032 creator A5005541527 @default.
- W4313449032 creator A5011391442 @default.
- W4313449032 creator A5023189251 @default.
- W4313449032 creator A5055414386 @default.
- W4313449032 date "2023-01-01" @default.
- W4313449032 modified "2023-10-16" @default.
- W4313449032 title "IC-GVINS: A Robust, Real-Time, INS-Centric GNSS-Visual-Inertial Navigation System" @default.
- W4313449032 cites W2118223742 @default.
- W4313449032 cites W2418849765 @default.
- W4313449032 cites W2559327209 @default.
- W4313449032 cites W2745859992 @default.
- W4313449032 cites W2754177129 @default.
- W4313449032 cites W2938170127 @default.
- W4313449032 cites W2963813675 @default.
- W4313449032 cites W2968489055 @default.
- W4313449032 cites W3003885710 @default.
- W4313449032 cites W3090386798 @default.
- W4313449032 cites W3091667825 @default.
- W4313449032 cites W3098250009 @default.
- W4313449032 cites W3124420883 @default.
- W4313449032 cites W3138764046 @default.
- W4313449032 cites W3165610079 @default.
- W4313449032 cites W3200820839 @default.
- W4313449032 cites W3205249702 @default.
- W4313449032 cites W4288062035 @default.
- W4313449032 doi "https://doi.org/10.1109/lra.2022.3224367" @default.
- W4313449032 hasPublicationYear "2023" @default.
- W4313449032 type Work @default.
- W4313449032 citedByCount "9" @default.
- W4313449032 countsByYear W43134490322023 @default.
- W4313449032 crossrefType "journal-article" @default.
- W4313449032 hasAuthorship W4313449032A5004961709 @default.
- W4313449032 hasAuthorship W4313449032A5005541527 @default.
- W4313449032 hasAuthorship W4313449032A5011391442 @default.
- W4313449032 hasAuthorship W4313449032A5023189251 @default.
- W4313449032 hasAuthorship W4313449032A5055414386 @default.
- W4313449032 hasConcept C104317684 @default.
- W4313449032 hasConcept C114466953 @default.
- W4313449032 hasConcept C121332964 @default.
- W4313449032 hasConcept C128651787 @default.
- W4313449032 hasConcept C14279187 @default.
- W4313449032 hasConcept C154945302 @default.
- W4313449032 hasConcept C173386949 @default.
- W4313449032 hasConcept C185592680 @default.
- W4313449032 hasConcept C199360897 @default.
- W4313449032 hasConcept C2777891301 @default.
- W4313449032 hasConcept C2778027091 @default.
- W4313449032 hasConcept C31972630 @default.
- W4313449032 hasConcept C41008148 @default.
- W4313449032 hasConcept C55493867 @default.
- W4313449032 hasConcept C60229501 @default.
- W4313449032 hasConcept C62520636 @default.
- W4313449032 hasConcept C63479239 @default.
- W4313449032 hasConcept C76155785 @default.
- W4313449032 hasConcept C79061980 @default.
- W4313449032 hasConcept C79403827 @default.
- W4313449032 hasConceptScore W4313449032C104317684 @default.
- W4313449032 hasConceptScore W4313449032C114466953 @default.
- W4313449032 hasConceptScore W4313449032C121332964 @default.
- W4313449032 hasConceptScore W4313449032C128651787 @default.
- W4313449032 hasConceptScore W4313449032C14279187 @default.
- W4313449032 hasConceptScore W4313449032C154945302 @default.
- W4313449032 hasConceptScore W4313449032C173386949 @default.
- W4313449032 hasConceptScore W4313449032C185592680 @default.
- W4313449032 hasConceptScore W4313449032C199360897 @default.
- W4313449032 hasConceptScore W4313449032C2777891301 @default.
- W4313449032 hasConceptScore W4313449032C2778027091 @default.
- W4313449032 hasConceptScore W4313449032C31972630 @default.
- W4313449032 hasConceptScore W4313449032C41008148 @default.
- W4313449032 hasConceptScore W4313449032C55493867 @default.
- W4313449032 hasConceptScore W4313449032C60229501 @default.
- W4313449032 hasConceptScore W4313449032C62520636 @default.
- W4313449032 hasConceptScore W4313449032C63479239 @default.
- W4313449032 hasConceptScore W4313449032C76155785 @default.
- W4313449032 hasConceptScore W4313449032C79061980 @default.
- W4313449032 hasConceptScore W4313449032C79403827 @default.
- W4313449032 hasFunder F4320321001 @default.
- W4313449032 hasIssue "1" @default.
- W4313449032 hasLocation W43134490321 @default.
- W4313449032 hasOpenAccess W4313449032 @default.
- W4313449032 hasPrimaryLocation W43134490321 @default.
- W4313449032 hasRelatedWork W2427032969 @default.
- W4313449032 hasRelatedWork W2469899484 @default.
- W4313449032 hasRelatedWork W2603022561 @default.
- W4313449032 hasRelatedWork W3209686583 @default.
- W4313449032 hasRelatedWork W4237475966 @default.
- W4313449032 hasRelatedWork W4285127726 @default.
- W4313449032 hasRelatedWork W4291993413 @default.
- W4313449032 hasRelatedWork W4322629208 @default.
- W4313449032 hasRelatedWork W4379260520 @default.
- W4313449032 hasRelatedWork W4382983292 @default.
- W4313449032 hasVolume "8" @default.
- W4313449032 isParatext "false" @default.
- W4313449032 isRetracted "false" @default.
- W4313449032 workType "article" @default.