UVIP: Robust UWB aided Visual-Inertial Positioning System for Complex Indoor Environments
Bo Yang Jun Li Hong Zhang Bo Yang Jun Li Hong Zhang
Indoor positioning without GPS is a challenge task, especially, in complex scenes or when sensors fail. In this paper, we develop an ultra-wideband aided visual-inertial positioning system (UVIP) which aims to achieve accurate and robust positioning results in complex indoor environments. To this end, a point-line-based stereo visual-inertial odometry (PL-sVIO) is firstly designed to improve the p...