Hybrid visual and inertial position and orientation estimation based on known urban 3D models

@article{Antigny2016HybridVA,
  title={Hybrid visual and inertial position and orientation estimation based on known urban 3D models},
  author={Nicolas Antigny and Myriam Servieres and Val{\'e}rie Renaudin},
  journal={2016 International Conference on Indoor Positioning and Indoor Navigation (IPIN)},
  year={2016},
  pages={1-8}
}
More and more pedestrians own devices (as a smartphone) that integrate a wide array of low-cost sensors (camera, IMU, magnetometer and GNSS receiver). GNSS is usually used for pedestrian localization in urban environment, but signal suffers of an inaccuracy of several meters. In order to have a more accurate localization and improve pedestrian navigation and urban mobility, we present a method for city-scale localization with a handheld device. Our central idea is to estimate the 3D location… CONTINUE READING

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