Review of PPP–RTK: Achievements, challenges, and opportunities
X Li, J Huang, X Li, Z Shen, J Han, L Li, B Wang - Satellite navigation, 2022 - Springer
The PPP–RTK method, which combines the concepts of Precise of Point Positioning (PPP)
and Real-Time Kinematic (RTK), is proposed to provide a centimeter-accuracy positioning …
and Real-Time Kinematic (RTK), is proposed to provide a centimeter-accuracy positioning …
GVINS: Tightly coupled GNSS–visual–inertial fusion for smooth and consistent state estimation
Visual–inertial odometry (VIO) is known to suffer from drifting, especially over long-term runs.
In this article, we present GVINS, a nonlinear optimization-based system that tightly fuses …
In this article, we present GVINS, a nonlinear optimization-based system that tightly fuses …
A general optimization-based framework for global pose estimation with multiple sensors
Accurate state estimation is a fundamental problem for autonomous robots. To achieve
locally accurate and globally drift-free state estimation, multiple sensors with complementary …
locally accurate and globally drift-free state estimation, multiple sensors with complementary …
From slam to situational awareness: Challenges and survey
The capability of a mobile robot to efficiently and safely perform complex missions is limited
by its knowledge of the environment, namely the situation. Advanced reasoning, decision …
by its knowledge of the environment, namely the situation. Advanced reasoning, decision …
Drift with devil: Security of {Multi-Sensor} fusion based localization in {High-Level} autonomous driving under {GPS} spoofing
For high-level Autonomous Vehicles (AV), localization is highly security and safety critical.
One direct threat to it is GPS spoofing, but fortunately, AV systems today predominantly use …
One direct threat to it is GPS spoofing, but fortunately, AV systems today predominantly use …
Tight fusion of a monocular camera, MEMS-IMU, and single-frequency multi-GNSS RTK for precise navigation in GNSS-challenged environments
T Li, H Zhang, Z Gao, X Niu, N El-Sheimy - Remote Sensing, 2019 - mdpi.com
Precise position, velocity, and attitude is essential for self-driving cars and unmanned aerial
vehicles (UAVs). The integration of global navigation satellite system (GNSS) real-time …
vehicles (UAVs). The integration of global navigation satellite system (GNSS) real-time …
Optimization-based visual-inertial SLAM tightly coupled with raw GNSS measurements
J Liu, W Gao, Z Hu - 2021 IEEE International Conference on …, 2021 - ieeexplore.ieee.org
Unlike loose coupling approaches and the EKF-based approaches in the literature, we
propose an optimization-based visual-inertial SLAM tightly coupled with raw Global …
propose an optimization-based visual-inertial SLAM tightly coupled with raw Global …
G-VIDO: A vehicle dynamics and intermittent GNSS-aided visual-inertial state estimator for autonomous driving
L Xiong, R Kang, J Zhao, P Zhang, M Xu… - IEEE Transactions …, 2021 - ieeexplore.ieee.org
This paper proposes G-VIDO, a vehicle dynamics, and intermittent Global Navigation
Satellite System (GNSS)-aided visual-inertial state estimator, to address the state estimation …
Satellite System (GNSS)-aided visual-inertial state estimator, to address the state estimation …
Tightly-coupled fusion of global positional measurements in optimization-based visual-inertial odometry
G Cioffi, D Scaramuzza - 2020 IEEE/RSJ International …, 2020 - ieeexplore.ieee.org
Motivated by the goal of achieving robust, drift-free pose estimation in long-term
autonomous navigation, in this work we propose a methodology to fuse global positional …
autonomous navigation, in this work we propose a methodology to fuse global positional …