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Sensors 2018, 18(7), 2193; https://doi.org/10.3390/s18072193

Integration of Low-Cost GNSS and Monocular Cameras for Simultaneous Localization and Mapping

1
Science and Technology on Automatic Target Recognition Laboratory, National University of Defense Technology, Changsha 410073, China
2
Electrical and Computer Engineering Department, Carnegie Mellon University, 5000 Forbes Ave, Pittsburgh, PA 15213, USA
*
Author to whom correspondence should be addressed.
Received: 10 June 2018 / Revised: 23 June 2018 / Accepted: 5 July 2018 / Published: 7 July 2018
(This article belongs to the Special Issue Sensor Fusion and Novel Technologies in Positioning and Navigation)
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Abstract

Low-cost Global Navigation Satellite System (GNSS) receivers and monocular cameras are widely used in daily activities. The complementary nature of these two devices is ideal for outdoor navigation. In this paper, we investigate the integration of GNSS and monocular camera measurements in a simultaneous localization and mapping system. The proposed system first aligns the coordinates between two sensors. Subsequently, the measurements are fused by an optimization-based scheme. Our system can function in real-time and obtain the absolute position, scale, and attitude of the vehicle. It achieves a high accuracy without a preset map and also has the capability to work with a preset map. The system can easily be extended to create other forms of maps or for other types of cameras. Experimental results on a popular public dataset are presented to validate the performance of the proposed system. View Full-Text
Keywords: SLAM; GNSS; low-cost; sensor fusion; navigation; ORB-SLAM; bundle adjustment SLAM; GNSS; low-cost; sensor fusion; navigation; ORB-SLAM; bundle adjustment
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Chen, X.; Hu, W.; Zhang, L.; Shi, Z.; Li, M. Integration of Low-Cost GNSS and Monocular Cameras for Simultaneous Localization and Mapping. Sensors 2018, 18, 2193.

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