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Robust Stereo Visual Inertial Navigation System Based on Multi-Stage Outlier Removal in Dynamic Environments
2020
Sensors
Robotic mapping and odometry are the primary competencies of a navigation system for an autonomous mobile robot. However, the state estimation of the robot typically mixes with a drift over time, and its accuracy is degraded critically when using only proprioceptive sensors in indoor environments. Besides, the accuracy of an ego-motion estimated state is severely diminished in dynamic environments because of the influences of both the dynamic objects and light reflection. To this end, the
doi:10.3390/s20102922
pmid:32455697
pmcid:PMC7288036
fatcat:2dgwormlxfae3fejgbxsgjjqse