Tightly Coupled GNSS, INS and Visual Odometry for Accurate and Robust Vehicle Positioning

High-precise vehicle positioning in urban environment is very crucial for modern transportation system. However, the traditional GNSS positioning cannot fully meet the requirement under complex environment. Thus, multi-sensor integrated navigation is inevitable. In this paper, a tightly coupled data fusion system of GNSS, INS and Visual Odometry is proposed to achieve accurate and robust vehicle p...