Optoelectronic Technology, Volume. 42, Issue 2, 100(2022)

Monocular Vision SLAM Algorithm Based on GNSS Fusion

Dingzhou HE, Hongbin MU, Shuo WANG, Dunliang SHEN, and Yong ZHU
Author Affiliations
  • Beijing Institute of Space System Engineering,Beijing 100076,CHN
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    References(8)

    [4] Mur-Artal R, Montiel J M M, Tardos J D. ORB-SLAM: A versatile and accurate monocular SLAM system[J]. IEEE Transactions on Robotics, 31, 1147-1163(2017).

    [8] Tao X, Zhu B, Xuan S et al. A multi-sensor fusion positioning strategy for intelligent vehicles using global pose graph optimization[J]. IEEE Transactions on Vehicular Technology, 71, 2614-2627(2021).

    [11] Hauke Strasdat, Montiel J M M, Davison Andrew J. Visual SLAM: Why filter?[J]. Image and Vision Computing, 30, 65-77(2012).

    [12] Raúl Mur-Artal, Tardós Juan D. Visual-Inertial monocular SLAM with map reuse[J]. IEEE Robotics & Automation Letters, 2, 796-803(2016).

    [13] Qin Tong, Li Peiliang, Shen Shaojie. VINS-Mono: A robust and versatile monocular visual-inertial state estimator[J]. IEEE Transactions on Robotics, 34, 1004-1020(2018).

    [15] Qin T, Cao S, Pan J et al. A general optimization-based framework for global pose estimation with multiple sensors[J]. Proc. IEEE/RSJ Int. Conf. Intell. Robots Syst, 1901(2019).

    [16] Horn B K P. Closed-form solution of absolute orientation using unit quaternions[J]. Journal of the Optical Society of America A: Optics and Image Science, 4, 629-642(1987).

    [17] Geiger A, Lenz P, Stiller C et al. Vision meets robotics: The KITTI dataset[J]. International Journal of Robotics Research, 32, 1231-1237(2013).

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    Dingzhou HE, Hongbin MU, Shuo WANG, Dunliang SHEN, Yong ZHU. Monocular Vision SLAM Algorithm Based on GNSS Fusion[J]. Optoelectronic Technology, 2022, 42(2): 100

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    Paper Information

    Category: Research and Trial-manufacture

    Received: Mar. 2, 2022

    Accepted: --

    Published Online: Jul. 29, 2022

    The Author Email:

    DOI:10.19453/j.cnki.1005-488x.2022.02.004

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