VINS-Motion: Tightly-coupled Fusion of VINS and Motion Constraint
Zhelin Yu Lidong Zhu Guoyu Lu Zhelin Yu Lidong Zhu Guoyu Lu
In this paper, we develop a novel visual-inertial navigation system with motion constraint (VINS-Motion), which extends the visual-inertial navigation system (VINS) to incorporate vehicle motion constraints for improving the autonomous vehicles localization accuracy. Besides the prior information, IMU measurement residual, and visual measurement residual utilized in VINS, vehicle orientation/veloc...