Multifusion schemes of INS/GNSS/GCPs/V-SLAM applied using data from smartphone sensors for land vehicular navigation applications

Kai-Wei Chiang,Dinh Thuan Le,Kuan-Ying Lin,Meng-Lun Tsai

Information Fusion（2023）

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摘要

•Various data from smartphone sensors are utilized and integrated with GCPs.•Scale update and refreshed-SLAM processes constrain the accumulated drift of V-SLAM.•Performance of schemes are tested in different GNSS-challenged environments.

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关键词

INS/GNSS,Visual SLAM,Smartphone sensors,Scale recovery,GNSS-challenged environments

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