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cs.RO2023
GPS-VIO Fusion with Online Rotational Calibration
Junlin Song, Pedro J. Sanchez-Cuevas, Antoine Richard +2
Accurate global localization is crucial for autonomous navigation and planning. To this end, various GPS-aided Visual-Inertial Odometry (GPS-VIO) fusion algorithms are proposed in…
cs.RO2023
GPS-aided Visual Wheel Odometry
Junlin Song, Pedro J. Sanchez-Cuevas, Antoine Richard +1
This paper introduces a novel GPS-aided visual-wheel odometry (GPS-VWO) for ground robots. The state estimation algorithm tightly fuses visual, wheeled encoder and GPS measurements…