Heading reference-assisted pose estimation for ground vehicles

• Main Authors: Wang, Han, Jiang, Rui, Zhang, Handuo, Ge, Shuzhi Sam
• Other Authors: School of Electrical and Electronic Engineering
• Format: Article
• Language: English
• Published: 2020
• Subjects: Engineering::Electrical and electronic engineering; Pose Estimation; Optimization
• Online Access: https://hdl.handle.net/10356/143622
• Institution: Nanyang Technological University

In this paper, heading reference-assisted pose estimation (HRPE) has been proposed to compensate inherent drift of visual odometry (VO) on ground vehicles, where an estimation error is prone to grow while the vehicle is making turns or in environments with poor features. By introducing a particular...