Visual-LiDAR Odometry Aided by Reduced IMU

Visual-LiDAR Odometry Aided by Reduced IMU

This paper proposes a method for combining stereo visual odometry, Light Detection And Ranging (LiDAR) odometry and reduced Inertial Measurement Unit (IMU) including two horizontal accelerometers and one vertical gyro. The proposed method starts with stereo visual odometry to estimate six Degree of...

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Bibliographic Details
Main Authors: Yashar Balazadegan Sarvrood, Siavash Hosseinyalamdary, Yang Gao
Format: Article
Language:English
Published: MDPI AG 2016-01-01
Series:ISPRS International Journal of Geo-Information
Subjects:
stereo visual odometry
LiDAR
reduced IMU
GICP
RISS
integration
EKF
Online Access:http://www.mdpi.com/2220-9964/5/1/3

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