Upper Stage Visual Inertial Integrated Navigation Method Based on Factor Graph
Abstract In the working process of the upper stage integrated navigation information fusion system, the multi-source navigation information fusion algorithm based on factor graph Bayesian estimation is used to fuse the information of inertial sensors, visual sensors and other sensors. The overall jo...
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Published in | Journal of physics. Conference series Vol. 2085; no. 1; pp. 12018 - 12024 |
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Main Authors | , , |
Format | Journal Article |
Language | English |
Published |
IOP Publishing
01.11.2021
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Online Access | Get full text |
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Summary: | Abstract
In the working process of the upper stage integrated navigation information fusion system, the multi-source navigation information fusion algorithm based on factor graph Bayesian estimation is used to fuse the information of inertial sensors, visual sensors and other sensors. The overall joint probability distribution of the system is described in the form of probability graph model with the dependence of local variables, so as to reduce the complexity of the system, adjust the data structure of information fusion to improve the efficiency of information fusion and smoothly switch the sensor configuration. |
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ISSN: | 1742-6588 1742-6596 |
DOI: | 10.1088/1742-6596/2085/1/012018 |