@inproceedings{e3317f424a4e43f4ba8cf93af1e735c3,
title = "Monocular Vision Aided Inertial Positioning Method based on Centroid Extraction Applicable to GNSS Denied Environments",
abstract = "Focusing on the issue that the continuous integrated inertial/visual positioning method requires high hardware requirements, which is adverse to low-cost applications, a monocular vision aided inertial positioning method is proposed. A vision aided inertial positioning error correction model is established, and the spatial relationship between the camera and the marker's centroid is obtained through visual motion estimation. On the premise that the coordinate of the marker's centroid is known, the inertial positioning error can be corrected. Taking the GPS trajectory as the ground truth and the sign on the pavement as the road marker, the field experiment was carried out by using the MEMS IMU and the monocular camera. Our results show that the positioning error decreases from several hundred meters to nearly 2 meters after adding visual information. Experiment demonstrates that the proposed method is valid, which provides a reference for positioning under the GNSS denied environment.",
keywords = "Centroid extraction, GNSS denied, Inertial positioning, Monocular vision",
author = "Minpeng Dai and Xinhao Lai and Chunxi Zhang and Xiong Pan and Hao Ding and Shilei Zhang and Haoyang Li and Yilinjiang Dai",
note = "Publisher Copyright: {\textcopyright} 2023 IEEE.; 2023 Asia-Pacific Conference on Image Processing, Electronics and Computers, IPEC 2023 ; Conference date: 14-04-2023 Through 16-04-2023",
year = "2023",
doi = "10.1109/IPEC57296.2023.00022",
language = "英语",
series = "Proceedings - 2023 Asia-Pacific Conference on Image Processing, Electronics and Computers, IPEC 2023",
publisher = "Institute of Electrical and Electronics Engineers Inc.",
pages = "76--82",
booktitle = "Proceedings - 2023 Asia-Pacific Conference on Image Processing, Electronics and Computers, IPEC 2023",
address = "美国",
}